[jpa]

To take it back a step, do you think it is wise to try to control the robot using Cartesian locations of should I be trying to control it by precision locations/encoder pulses?

How are you controlling the robot, how are you implenting the RoboDK code?

I think controlling by cartesian locations should be fine.

So far I haven't actually implemented controlling at all, as I got a bit busy with other projects. But my current plan is to send precision locations (joint angles) from ROS.