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About the Role
Own motion from command to actuator by designing and tuning control loops for sub-millimeter precision work under real load. Collaborate with mechanical, electrical, and software teams to create a deterministic system, with fast iteration cycles allowing controllers to be implemented on hardware quickly.
Responsibilities
- Own the control stack: design, implement, and tune motor control, trajectory execution, and high-rate feedback loops on real robots.
- Own precision motion: deliver repeatable, sub-millimeter positioning under significant loads, and diagnose the mechanical, electrical, and software sources of error.
- Own force and contact control: develop force/impedance control strategies for tasks involving delicate hardware manipulation.
- Own actuator and sensor integration: bring up motors, drives, encoders, and force/torque sensors, and characterize their real-world behavior.
- Partner across the stack: collaborate with mechanical, electrical, and software teams on drivetrain, stiffness, drives, instrumentation, and real-time interfaces.
- Validate and iterate fast: build test procedures to prove controller performance and rapidly iterate on controller revisions.
Requirements
- 3+ years of controls engineering experience on real electromechanical systems (robotics, motion systems, automation, or similar).
- Strong control theory fundamentals: PID and beyond, system identification, stability analysis, and judgment for simple control solutions.
- Hands-on experience tuning motor control and closed-loop motion systems on physical hardware.
- Proficiency in C++ or Rust for real-time control code, and Python for analysis and tooling.
- Experience debugging control problems in the wild: instability, resonance, latency, sensor noise, and mechanical compliance.
- Comfort with ambiguity and a strong build-and-test instinct.
- Able to work on-site in San Francisco 5 days/week (6 days/week if needed during crunch time).
Skills
- Motor control
- Trajectory execution
- Force control
- Impedance control
- Sensor feedback
- C++
- Rust
- Python
- PID control
- System identification
- Stability analysis
- Real-time control
- Debugging
- Mechanical integration
- Electrical integration
- Software integration
Location
- San Francisco
Work Type
- On-site
Experience Level
- 3+ years