Orientation Difference and Cartesian Motion Control Tasks
Nov 12, 2023
Motivation The most fundamental Cartesian motion control task requires a robot to move its end-effector from its current pose $T(R, p)$ to a desired pose $T_d(R_d, p_d...
Spatial Kinematics and Transformations
Nov 5, 2023
Motivation Kinematics studies the motion of rigid body systems, which is a fundamental building block of robotics. Expressing kinematic quantities in the Plucker coordinates results in compact notations that include both rotation...
Exponential and Logarithm in SO(3), SE(3), Quaternion Space
Oct 14, 2023
Motivation $SO(3)$, $SE(3)$, and quaternion logarithm and exponential are mathematical operations that can facilitate the computation and representation of rigid body motion. Post Rigid Body Motion...
Analytical Whole Body Control, Prioritized Recursive Nullspace
Oct 2, 2023
Motivation A robot can have more degrees-of-freedom (DOF) than the DOF needed to accomplish a certain task. In that case, one may want a controller that (1) guarantees that robot utilizes its...
System · Bash Script with Options
Sep 16, 2023
Preface Bash scripts are useful tools for automating the build and configuration of software projects. Scripts that accept input options and arguments offer additional flexibility. This post presents such a template, for...