# Tag Info

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}(\...