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...
Hybrid Motion-Force Manipulation for Generic Peg-in-Hole
Oct 21, 2023
Demo 1: Automate 2022 trade show video illustrating peg-in-hole via hybrid motion-force control Demo 2: ATX WEST 2023 trade show video with peg-in-hole strategies used in tool changing and engine assembly Demo...
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, Concepts and Terminologies discussed matrix exponential...
Image-Based Visual Servo, Motion-Force, Cartesian Impedance Control
Oct 8, 2023
Demo 1: Flexible printed circuit assembly using IBVS, motion-force, impedance control Demo 2: Visual servo scheme comparison - Image-Based Visual Servo (IBVS) Demo 3: Visual servo scheme comparison - IBVS with pattern...
Yosemite Hetch Hetchy Wawoma
Oct 7, 2023
Upper Yosemite Falls, Hetch Hetchy Valley, Wawoma Point. Exhausted but fulfilled.