Robot Control

Trajectory Tracking

Joint Space Control

controller = builder.AddSystem(PidController(kp, ki, kd))

Cartesian Space Control

Transform errors to joint space using Jacobian:

\[\tau = J^T F_{task}\]

Force Control

Direct Force Control

force_command = desired_force

Impedance Control

Maintains relationship between force and position:

\[F = M(x_d - x) + B(\dot{x}_d - \dot{x}) + K(x_d - x)\]

Hybrid Position/Force Control

Selectively control force in some directions, position in others.

Passivity-Based Control

Ensures stable interaction with unknown environments.

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