High-Order Butterworth Filters, Time and Frequency Analysis
Jun 15, 2025
Continuous-Time Transfer Function For a second-order butterworth low-pass filter, it is given by
Qinhuai River, Fuzi Temple
Jun 7, 2025
Qinhuaihe River (秦淮河), Fuzi Temple (夫子庙), and stuff. It's the small things in life that people say, 人间烟火气, 最抚凡人心.
Impedance Change of Basis, Generalization
May 31, 2025
Motivation When designing Cartesian impedance controllers, one often wants to control w.r.t what reference frame the Cartesian impedance is applied. For example, the world frame, workpiece frame, or the robot TCP frame....
Random Weekend Trips
May 24, 2025
Fangshan Shidu (房山十渡), Tower Forest of Silver Mountains (银山塔林), Tiantan Park (天坛公园), Bulaotun Observatory (不老屯天文台), Moon River Night Market (月亮河夜市).
Nullspace Concepts, Robotics Applications, Implementation
May 17, 2025
Preface Nullspace is an important concept in Linear algebra and is widely used in robotics. This post discusses its concepts, applications in the control of redundant robots, and C++ implementation. For reference,...