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...
Chengdu
Apr 9, 2023
The capital of Sichuan. 来都来了，到处转转，感受下当地特色. To be honest, it's pretty typical of supercities, a little bit over commercialized. Downtown Chengdu, shopping malls, people, and shows. The city park, and the famous Heming...
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...
Small Cities in Sichuan
Mar 19, 2023
Meishan city, a small city in Sichuan province. Known to be the hometown of one of the most famous Poets in Chinese history, one of The Great 8 of Tang and Song...
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...