Control of robotic arms through hybrid inverse kinematics and intuitive reference frame

A system for controlling a robotic device, the system comprising:

• a robotic device configured to perform one or more tasks;
• an input device configured to receive user input indicating desired movement of the robotic device to perform the one or more tasks;
• and
• a controller configured to control the robotic device based on the user input indicating the desired movement of the robotic device, the controller configured to:
• receive signals identifying the user input from the input device;
• determine a ground reference frame for controlling movement of the robotic device, wherein the ground reference frame is based on a base location of the robotic device relative to a ground surface;
• determine an end-effector reference frame for controlling movement of the robotic device, wherein the end-effector reference frame is based on a current joint configuration of the robotic device;
• generate, based on the ground reference frame and the end-effector reference frame, an intuitive reference frame for controlling movement of the robotic device;
• determine controls to move the robotic device in the intuitive reference frame;
• generate instructions for controlling movement of the robotic device;
• and
• execute the instructions to control movement of the robotic device, wherein the robotic device is configured to perform the one or more tasks in response to the controller executing the instructions.