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...
Hybrid Motion-Force Manipulation for Generic Peg-in-Hole
Oct 21, 2023
Demo 1: Automate 2022 trade show video illustrating peg-in-hole via hybrid motion-force control Demo 2: ATX WEST 2023 trade show video with peg-in-hole strategies used in tool changing and engine assembly Demo...
Exponential and Logarithm in SO(3), SE(3), Quaternion Space
Oct 14, 2023
Motivation $SO(3)$, $SE(3)$, and quaternion logarithm and exponential are mathematical operations that can facilitate the computation and representation of rigid body motion. Post Rigid Body Motion, Concepts and Terminologies discussed matrix exponential...