Math & Kinematics

Joint Limits

Joint limits are the bounds on each joint's allowable range, primarily position limits set by mechanical stops or wiring, along with velocity, acceleration, and torque bounds specified by the manufacturer. They are encoded in robot description files, enforced in software ahead of hard stops, and act as constraints in inverse kinematics, motion planning, and trajectory optimization.

Why it matters for physical AI

Policies and planners that ignore joint limits produce unreachable or self-damaging commands, so limit-aware action spaces and safety layers are baseline requirements for running learned controllers on hardware.