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Your intuition is partially correct in the sense that you ought to go with position control implemented via velocity commands resorting to a kinematic (not dynamic) model of the manipulator. This can be explained by inspecting one of the easiest policy used for inverse kinematics, $$ \dot{\mathbf{q}} = \mathbf{J}^{-1} \cdot \left( \mathbf{x}_d - \mathbf{x}(\...


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