[About this category] Chapter 10 – Dynamic Control in Task Space

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Welcome to the discussion category for Chapter 10: Dynamic Control in Task Space.

This chapter extends dynamic control strategies into task space, utilizing Lie group formulations in SO(3) and SE(3). Topics include:

  • Inverse kinematics and joint-space decomposition
  • Operational space control and task-space passivity
  • Task-space compliance and impedance control
  • Tracking control and inverse dynamics in SE(3)
  • Robust NRIC-based control in operational space

This chapter enables precise, stable, and robust control of end-effector motion and interaction in real-world robotic tasks.

:memo: Posting Guidelines:

Use this space to:

  • Ask or answer questions about concepts, equations, or methods from this chapter.
  • Share MATLAB code, simulations, or derivations.
  • Report typos or unclear explanations found in the book.
  • Post your own solutions or request help with problems.
  • Propose new problems or alternative approaches.

When posting, please add relevant tags to help others browse and contribute effectively.

Suggested Tags:

  • matlab – MATLAB code, simulations, or visualizations
  • solution – Solutions to book exercises
  • problem – New or extended problem proposals
  • typo – Typos or notational inconsistencies
  • concept – Conceptual or theoretical questions

Example Post:

Title: “Clarification on passivity-based inverse dynamic control in SE(3) (Section 10.4.4)”
Tags: concept, matlab, solution

We encourage thoughtful questions and clear explanations to support learning for everyone!

— Lie Group Robotics Team