Rigid Body Motion, Concepts and Terminologies
Apr 23, 2023
Motivation Rigid body motion is a fundamental component in robotics. The description of rigid body system motion often involves spatial vector algebra and certain special Orthogonal, Euclidean, and Lie groups. In the...
Shanghai
Apr 22, 2023
Came here in April to work on Flexiv's new product release for about a month. Got the job done and visited many places. I used to live in Beijing for about 10...
Fundamentals of Dynamics and Control of Flexible Joint Robots
Apr 10, 2023
Motivation Most textbooks model robot dynamics with rigid links and joints, and derive controllers based on such assumptions. Such models are good enough for industrial robots with rigid joints and link position...
Chengdu
Apr 9, 2023
The capital of Sichuan. 来都来了，到处转转，感受下当地特色. To be honest, it's pretty typical of supercities, a little bit over commercialized. Downtown Chengdu, shopping malls, people, and shows. The city park, and the famous Heming...
Wrench Sensor and Tool Dynamics Calibration
Mar 20, 2023
Preface Many robotic applications, such as compliant assembly, require the robot end-effector to interact with the environment with certain force and torque. For these applications, a wrench sensor and a tool is...