.. _cartesian_motion_control:

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Cartesian motion control
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sdu_controllers implements a cartesian motion controller as described on page 348 in :cite:t:`2009:Siciliano`.

.. figure:: ../../_static/cartesian_control_light.svg
   :width: 90%
   :class: only-light

.. figure:: ../../_static/cartesian_control_dark.svg
   :width: 90%
   :class: only-dark

TODO: Finish description of cartesian motion controller and include examples.