Control
Resolved Rate Control
Resolved rate control is a Cartesian velocity control scheme, introduced by Whitney in 1969, that maps a desired end-effector twist to joint velocities through the inverse or pseudoinverse of the manipulator Jacobian at every control cycle. It underlies Cartesian jogging, visual servoing, and teleoperation rate control, with damped least-squares and null-space extensions handling singularities and redundancy.
Why it matters for physical AI
Streaming end-effector velocity commands is the interface through which most teleoperation rigs and many learned policies drive arms, and resolved rate control is the machinery that makes that interface work.
Build physical AI
Put these concepts to work on real hardware
Axol is a dual-arm robot built for physical AI — teleoperate it, collect demonstrations, and deploy learned policies out of the box.