Fundamentals of Dynamics and Control of Flexible Joint Robots
Apr 10, 2023
Motivation Most textbooks model robot dynamics with rigid links and joints, and derive controllers based on such assumptions. Such models are good enough for industrial robots with rigid joints and link position...
Wrench Sensor and Tool Dynamics Calibration
Mar 20, 2023
Preface Many robotic applications, such as compliant assembly, require the robot end-effector to interact with the environment with certain force and torque. For these applications, a wrench sensor and a tool is...
Image-Based Visual Servo Control
Mar 13, 2023
Motivation Tracking a moving object based on vision feedback is a common task in robotics. One approach to realize such object tracking is called image-based visual servo (IBVS) control. In IBVS, the...
Constrained Optimization, Lagrange Multiplier
Mar 6, 2023
Motivation Optimization is used everywhere in engineering. In robotics, formulating problems as optimization problems has shown to be more general than solving them in a pure analytical fashion. In particular, it is...
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...