Teaching a Robot Arm to See 100ms Into the Future
Most robot controllers have a delay. Commands take time to travel through software stacks, buffers, and hardware. For the Franka Panda arm I was working with in MuJoCo, this delay is exactly 100ms — five control steps at 50Hz. That sounds small. It is not. The problem A standard inverse kinematics (IK) controller does something simple: look at where the target is right now, compute the joint angles that would put the end-effector there, send those angles to the robot. ...