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,...
Least Squares, Minimum Norm, Pseudo-Inverse Solutions
May 4, 2025
Preface For a system of linear "equations" (may not actually be equal)