# Robot Control

Getting a robot to do something useful means turning a goal in task space, "put the gripper here", into motion in joint space that respects the robot's kinematics and its surroundings. This section covers the tools for that: inverse kinematics, motion and path planning, and constraints. It builds on {doc}`Control your robot </user_guide/getting_started/control_your_robot>`; start with the combined IK-and-planning tutorial for the end-to-end workflow.

```{toctree}
:hidden:
:maxdepth: 1

inverse_kinematics_motion_planning
advanced_ik
constraints
path_planning
```