# Tag Info

Nope, you cannot simply plug the maximum joint velocities in the differential forward kinematic law, as you need to guarantee that $\mathbf{v}$ will always point toward the target: in fact, $\mathbf{v}$ is a vector. As a result, you need to solve the inverse kinematics problem first for each point of the path. This can be done iteratively: Assign a desired \$...