Cartesian space control

A control method where you specify the desired position and orientation of the robot's hand (end-effector) in 3D space, and the control system automatically calculates which joint angles are needed to achieve it.

What it is:

A control method where you command the robot's hand (end-effector) to move to a specific location and orientation in 3D space, and the control system automatically figures out which joint angles to use.

How it works:

Instead of thinking about joints, you think about space:

1. Command: "Move hand to position X=0.5m, Y=0.3m, Z=1.2m with orientation pointing downward"
2. System response: Automatically calculates required joint angles using inverse kinematics
3. Result: Hand reaches the exact target location and orientation

Key advantages:

1. Intuitive — You think spatially, not abstractly about joint angles
2. Smooth paths — Hand follows predictable, straight-line motions through space
3. Adaptability — Easy to adjust course in real-time if obstacles appear
4. Natural for humans — Matches how we naturally perceive robot tasks

Disadvantages:

1. Computationally expensive — Inverse kinematics requires real-time calculation
2. Redundancy complexity — Multiple solutions may exist; system must choose wisely
3. Singularities — Certain positions become mathematically impossible or unstable

Typical use cases:

1. Collaborative robots working alongside humans
2. Precision tasks like welding or assembly (smooth paths matter)
3. Dynamic environments requiring on-the-fly adjustments
4. Tasks defined by spatial landmarks, not pre-programmed angles