Interactive notes on control, robotics and the Siemens motion stack.
Single-page simulators and field guides I built while learning these systems. Everything runs in your browser; nothing is stored.
Control & robotics
Control Theory Bench
Live simulations from a second-order plant through PID, feedforward, wind-up and LQR, to the point where MPC takes over.
Reflex & Imagination
Vision-language-action models versus world models — where each closes its loop, with a maze you can block mid-run.
Cheetah Control Stack
The MIT Cheetah locomotion stack — gait scheduling, convex MPC at ~40 Hz, whole-body control at 500 Hz, and the state machine above them.
Siemens motion & automation
Path Motion Control — LKinCtrl V5.3
The S7-1500T kinematics library in which one function block executes a PathData command list, with an editable path lab.
Kinematics Integrator Console — LSKI V4.1
Program tables, interpreter and motion pointers, plugins, and a simulated interpreter driving a Cartesian portal.
Motion Interpreter Lab — V10.0
How an S7-1500T Interpreter program sequences motion without step conditions, with a path simulator and status-word decoder.
Product Register Console — LProdReg V3.2
The product-tracking library — flow objects, one central register, and a live pick-and-place register simulation.
ROXSIE Architecture Lab
A ROS 2 graph and an S7-1500 Software Controller in one box — with a lifetime-buffer simulator and a message-budget calculator.
SIMATIC Target for Simulink
From a Simulink model to ODK code running inside an S7-1500 CPU or on Industrial Edge, with the worked PID example live.
The Siemens pages are unofficial reading aids built from publicly available manuals — not Siemens publications — and contain no customer projects or proprietary material. Each opens as its own page; the bar at its top links back here.