Which statement accurately describes the three primary joint controls: position, velocity, and torque?

• A. Position control commands joint torques to reach a target pose.
• B. Velocity control drives joints to target positions; torque control regulates speeds.
• C. Torque control calibrates the robot's zero position.
• D. Position control drives joints to target positions; velocity control regulates speeds; torque control commands joint torques for dynamic interaction and compliant behavior.

Answer: (D)