Foundations of Low-Level Robot Control

A deep dive into the different methods to turn a Cartesian goal into joint motion - and their respective tradeoffs.

Part 1Inverse-KinematicsBatch IK versus differential IK, and the benefits of damped least squares. Part 2Torque ControlThe central tradeoff between OSC and impedance control. Part 3Admittance ControlWhy impedance maps motion to force while admittance maps force to motion. Part 4Redundancy & Null-Space ControlHow inverse Jacobians distribute redundant motion—and why null-space motion differs from null-space torque.