Cartesian velocities

The combination of linear and angular velocities of the end-effector expressed in Cartesian coordinates.

Cartesian velocities represent the motion of the robot's end-effector in 3D space, combining both linear velocity (how fast it moves through space) and angular velocity (how fast it rotates). These velocities are expressed in Cartesian coordinates (x, y, z) rather than joint coordinates, making them intuitive for task-level planning and control.

Simple idea: Describe end-effector motion using familiar 3D space coordinates instead of abstract joint angles.