Spatial Dynamics and Transformations
Feb 12, 2024
Motivation Dynamics studies the relationship between actuation and motion trajectories of objects. Similar to Spatial Kinematics and Transformations, expressing dynamic quantities in spatial coordinates results in compact notations that are suitable for...
Eigen 101 · Comparison, Reductions, Cwise Operations
Jan 27, 2024
Some brief notes for quick reference. Matrices vs. Arrays, see also Catalog of coefficient-wise math functions, Converting between array and matrix expressions, and Coefficient-wise & Array operators. Reductions, see also Reductions, visitors and...
Private Content
Jan 13, 2024 Private
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Eigen 101 · Init, Blocks, Info, Access, Resize, Cast
Jan 6, 2024
Some brief notes for quick reference, for details, see Eigen's Quick reference guide. Initialization. Blocks. Information. Access. Resize. Cast.
Impedance Controller Design and Robustness Analysis
Jan 3, 2024
Motivation Impedance controllers are commonly employed to control robotic systems. They typically transform the controlled system dynamics into a standard second order mass-spring-damper system, in which the proportional and derivative control gains...