Inverse kinematics is the math that turns "put the gripper here" into "set joint angles to these values." We walk forward versus inverse, analytic versus numerical solutions, the Jacobian and damped least squares, how singularities sneak up on you, the practical solvers every modern stack ships, and how to pick one without doing a PhD.
Control
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Inverse Kinematics for the Working Engineer -
Stepper vs Servo vs BLDC Stepper, servo, and BLDC motors look similar from the outside and behave very differently in a real project. We walk what each one actually is at the rotor level, the torque curves that decide where each wins, open-loop versus closed-loop control, field-oriented control on a BLDC, and a clear decision framework for choosing the right motor class for the job.