https://isaac0804.github.io/tags/robotics/Recent content in Robotics on Deep DiveHugo -- gohugo.ioen-usTue, 26 May 2026 18:00:00 +0100https://isaac0804.github.io/posts/2026-05-26-franka-ee-tracking/Tue, 26 May 2026 18:00:00 +0100https://isaac0804.github.io/posts/2026-05-26-franka-ee-tracking/<p>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.</p> <p>That sounds small. It is not.</p> <hr> <h2 id="the-problem">The problem</h2> <p>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.</p>