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...
Working From Shanghai
Jan 18, 2023
Working from Shanghai for Flexiv's new software version release. The office was nice, the project was fun.
Flexiv, Year-End Performance Review 2022
Dec 31, 2022
Translation: 超出预期 - Beyond Expectations; 远超预期 - Far Beyond Expectations; Note: The maximum performance rating is 5, Far Beyond Expectations.