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Sep 13, 2025 Private
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System · Ubuntu Setup Notes, Secondary
Aug 9, 2025
Notes for a set of primary Ubuntu Setup Notes, see System · Ubuntu Setup Notes for a set of Local File Copies, see here ROS-2 Jazzy (Ubuntu 24.04) Ubuntu deb packages official...
High-Order Butterworth Filters, Time and Frequency Analysis
Jun 15, 2025
Continuous-Time Transfer Function For a second-order butterworth low-pass filter, it is given by $$ H(s) = \frac{\omega_c^2}{s^2 + \xi \omega_c s + \omega_c^...
Impedance Change of Basis, Generalization
May 31, 2025
Motivation When designing Cartesian impedance controllers, one often wants to control w.r.t what reference frame the Cartesian impedance is applied. For example, the world frame, workpiece frame, or the robot...
Nullspace Concepts, Robotics Applications, Implementation
May 17, 2025
Preface Nullspace is an important concept in Linear algebra and is widely used in robotics. This post discusses its concepts, applications in the control of redundant robots, and C++ implementation...