Point-to-Point Trajectory Interpolation Concepts and Implementation
Nov 27, 2023
Preface Point-to-point trajectory interpolation is among the simplest smooth trajectory generation techniques. This post summarizes cubic and quintic point-to-point trajectory interpolation mathematics by following 2017@Lynch , Section 9.2. In addition, this post...
North Dome Hetch Hetchy
Nov 26, 2023
Hetch Hetchy again, and North Dome. Pictures cannot capture the beauty of Yosemite.
Eigen 101 · Evaluation and Type Traits
Nov 18, 2023
Some brief notes for quick reference. Expression type evaluation. Getting the Scalar type. Getting expression Type by type traits.
Orientation Difference and Cartesian Motion Control Tasks
Nov 12, 2023
Motivation The most fundamental Cartesian motion control task requires a robot to move its end-effector from its current pose $T(R, p)$ to a desired pose $T_d(R_d, p_d)$ in the 6-dimensional Cartesian space....
Spatial Kinematics and Transformations
Nov 5, 2023
Motivation Kinematics studies the motion of rigid body systems, which is a fundamental building block of robotics. Expressing kinematic quantities in the Plucker coordinates results in compact notations that include both rotation...