# Lecture 13

###
* Here we have basically have placed springs at joint spaces and then at end to get task oriented control
*
* Here in joint space control we basically find qd using inverse kinematics and then using control got towards it .
* But in Resolved motion rate control we find $\delta \theta$ with $\delta x$ first we find x at $\theta$ and then find $\delta x$ with that find $\delta \theta$ and then we find $\theta^+$


* still Resolved motion rate control have some problems like it doesn't work in singularities and other stuffs
*


*


*


* Why it is on left side of equation ?
* we use critically damped a lot .


* Natural Damping ratio:


* what is the damped natural frequency ?


*


* here system is stable but it can be oscillatory and therefore we add some damping.


*