Constrained Optimization, Lagrange Multiplier
Mar 6, 2023
Motivation Optimization is used everywhere in engineering. In robotics, formulating problems as optimization problems has shown to be more general than solving them in a pure analytical fashion. In particular, it is...
Sichuan Natural Splendors
Mar 5, 2023
Dadu river, maybe translates to The Big Step Forward river, 大渡河, near the Jinkou valley, 金口大峡谷. A place to remember since it happened here that the Chinese people had milestone victories over...
Robot Singularity Avoidance, Analysis and Comparison
Feb 25, 2023
Motivation Mathematically, singularities happen when robot Jacobian loses rank, resulting robot loses its ability to move its end-effector along certain directions. Or, in other mathematically words, when the Jacobian is singular, it...
Sanya and Xisha
Feb 19, 2023
Sanya, one of the only tropical cities in China. One of my favorite places in winter. Well, it doesn't really have a winter. Sanya Bay, 三亚湾, one of Sanya's landmarks, not far...
Learning a New Programming Language for Production
Feb 5, 2023
Language Peripherals Setup How to install the language and dependencies How to use interactive console if possible How to compile, if necessary, and run code from an OS terminal How to setup...