I had a few questions on the kinematics for a KUKA robot. I tried googling and couldn't anything on KUKA's kinematics.
1. What is the path planning algorithm within the KUKA Robot?
2. Is it possible to access the jacobian matrix on a KUKA Robot? If so, how is it done at the end-user level?
3. Can I specify joint velocities (or have joint velocity control) at each sampling time? If so, how is it done?
4. How can I get the current endpoint of the robot outputted? Is it even possible to get this in a command line output form?