https://www.wimcorp.co.kr/tech/en/ Robotics engineering notes verified in the field by WIM engineers en Sat, 10 Oct 2026 00:00:00 GMT https://www.wimcorp.co.kr/tech/en/posts/embedded/jetson-nvpps-ethercat-dc-drift/ https://www.wimcorp.co.kr/tech/en/posts/embedded/jetson-nvpps-ethercat-dc-drift/ Sat, 10 Oct 2026 00:00:00 GMT Running two servo drives at 1 kHz from a Jetson AGX Orin with the IgH EtherCAT master, the Distributed Clocks (DC) deviation between drives spiked to hundreds of microseconds roughly every 110 seconds. The cause was not the motors, the kernel, or our control code. It was the PTP-TSC hardware lock that NVIDIA's nvpps driver enables at boot. Disabling it with one device tree property cut the maximum DC deviation from 328 µs (300 s with the lock on) to 3.5 µs (20 minutes with it off). embedded https://www.wimcorp.co.kr/tech/en/posts/simulator/skid-steer-scrub-geometry/ https://www.wimcorp.co.kr/tech/en/posts/simulator/skid-steer-scrub-geometry/ Fri, 21 Aug 2026 00:00:00 GMT We derive why three weeks of friction-coefficient tuning was doomed from the start — in a skid-steer vehicle's turning-ability ratio, both the friction coefficient and the weight cancel out, leaving only contact geometry. With measured data, plus two hard-earned lessons about trusting simulation instrumentation. simulator https://www.wimcorp.co.kr/tech/en/posts/simulator/tracked-vehicle-virtual-wheels/ https://www.wimcorp.co.kr/tech/en/posts/simulator/tracked-vehicle-virtual-wheels/ Fri, 21 Aug 2026 00:00:00 GMT No physics engine has a native "track" primitive. We share how we modelled a tracked skid-steer robot in Isaac Sim — the failure of a 46-link articulated track, a 4-contact model that turned "perfectly" and was wrong precisely because of it, and the measured 12-contact distributed virtual-wheel model we use today. simulator https://www.wimcorp.co.kr/tech/en/posts/control/rl-low-level-motor-control/ https://www.wimcorp.co.kr/tech/en/posts/control/rl-low-level-motor-control/ Tue, 03 Mar 2026 00:00:00 GMT In the domain of 1kHz real-time motor control that LLMs cannot replace, we introduce WIM's approach to replacing traditional PID/ADRC manual tuning with reinforcement learning (RL). control https://www.wimcorp.co.kr/tech/en/posts/embedded/memory-ordering-arm64/ https://www.wimcorp.co.kr/tech/en/posts/embedded/memory-ordering-arm64/ Thu, 15 Jan 2026 00:00:00 GMT We measured whether atomic memory ordering could be a performance bottleneck in a 1kHz RT loop on Jetson Orin (Cortex-A78AE). On AArch64, the cost of seq_cst is virtually identical to release/acquire, and the total cost of 25 atomic operations is less than 0.01% of the 1ms budget. embedded https://www.wimcorp.co.kr/tech/en/posts/vision/template-matching-evolution/ https://www.wimcorp.co.kr/tech/en/posts/vision/template-matching-evolution/ Wed, 14 Jan 2026 00:00:00 GMT An exploration of how template matching technology in computer vision has evolved from pixel-based methods through SIFT/ORB to SuperPoint/SuperGlue. Covers the principles, limitations, and use-case recommendations for each approach. vision https://www.wimcorp.co.kr/tech/en/posts/control/cia402-profile/ https://www.wimcorp.co.kr/tech/en/posts/control/cia402-profile/ Wed, 14 Jan 2026 00:00:00 GMT This article explains the CiA402 profile, the motor control standard for industrial robots based on EtherCAT and CANopen. It covers the state machine, Controlword/Statusword bit structures, and operation modes with practical examples. control https://www.wimcorp.co.kr/tech/en/posts/embedded/lock-free-ipc-benchmark/ https://www.wimcorp.co.kr/tech/en/posts/embedded/lock-free-ipc-benchmark/ Wed, 14 Jan 2026 00:00:00 GMT The factor determining IPC performance in robot control systems is the synchronization mechanism, not process boundaries. We share a case study achieving 100x improvement from 78-103us with Mutex to 0.74-0.82us with Lock-free. embedded https://www.wimcorp.co.kr/tech/en/posts/perception/voxel-and-sdf/ https://www.wimcorp.co.kr/tech/en/posts/perception/voxel-and-sdf/ Wed, 14 Jan 2026 00:00:00 GMT Explains Voxel, SDF, TSDF, and ESDF technologies that robots use to represent and understand 3D environments. Covers differences from Point Clouds and practical applications in robot path planning and surface reconstruction. perception https://www.wimcorp.co.kr/tech/en/posts/control/acceleration-feedforward-tuning/ https://www.wimcorp.co.kr/tech/en/posts/control/acceleration-feedforward-tuning/ Tue, 13 Jan 2026 00:00:00 GMT We share the process of optimizing acceleration feedforward control for a 6-axis robot arm. By using planner acceleration + LPF instead of numerical differentiation, we achieved 21.2% improvement in position RMSE and torque stability simultaneously. control https://www.wimcorp.co.kr/tech/en/posts/control/friction-compensation-experiment/ https://www.wimcorp.co.kr/tech/en/posts/control/friction-compensation-experiment/ Mon, 12 Jan 2026 00:00:00 GMT We validate the effects of friction compensation and acceleration feedforward on a 6-axis collaborative robot through 160 runs of 2x2 experiments. Friction coefficients were tuned using an AI agent (ralph-loop), and validation experiments were conducted with automated scripts. Friction compensation alone achieved 36% improvement (Cohen's d=1.49), accounting for 93% of total improvement. control https://www.wimcorp.co.kr/tech/en/posts/embedded/realtime-monitoring-system/ https://www.wimcorp.co.kr/tech/en/posts/embedded/realtime-monitoring-system/ Mon, 12 Jan 2026 00:00:00 GMT Design a monitoring architecture that safely collects, stores, and visualizes performance data from EtherCAT-based 1kHz real-time control loops. Maintain RT determinism while capturing debugging data using Lock-free SPSC Queues and ROS2 topic layering. embedded https://www.wimcorp.co.kr/tech/en/posts/embedded/preempt-rt-jetson-orin/ https://www.wimcorp.co.kr/tech/en/posts/embedded/preempt-rt-jetson-orin/ Tue, 23 Dec 2025 00:00:00 GMT We validate with measured data whether PREEMPT_RT kernel and CPU isolation alone can enable 1kHz EtherCAT control on NVIDIA Jetson Orin. Under GPU, Storage, and EtherCAT load conditions, we achieved max latency below 20us. embedded https://www.wimcorp.co.kr/tech/en/posts/simulator/isaac-sim-closed-loop-articulation/ https://www.wimcorp.co.kr/tech/en/posts/simulator/isaac-sim-closed-loop-articulation/ Thu, 13 Mar 2025 00:00:00 GMT Learn how to resolve issues with closed-loop structures like delta robots and parallel-link grippers that fail to work in Isaac Sim, using Guide Joint and Exclude From Articulation settings. simulator https://www.wimcorp.co.kr/tech/en/posts/integration/yaskawa-moto-ros2-proxy-server/ https://www.wimcorp.co.kr/tech/en/posts/integration/yaskawa-moto-ros2-proxy-server/ Sat, 04 Jan 2025 00:00:00 GMT Learn how to overcome MotoROS2's 200-point trajectory limitation and BUSY response issues on Yaskawa industrial robots through a Proxy Server architecture design and implementation. integration https://www.wimcorp.co.kr/tech/en/posts/perception/precise-robot-calibration/ https://www.wimcorp.co.kr/tech/en/posts/perception/precise-robot-calibration/ Mon, 28 Oct 2024 00:00:00 GMT A practical guide to achieving sub-0.5mm Sim-to-Real calibration by combining Touch Probe and Kabsch Algorithm to overcome the limitations of vision-based approaches. perception https://www.wimcorp.co.kr/tech/en/posts/vision/yolo-tensorrt-deepstream-optimization/ https://www.wimcorp.co.kr/tech/en/posts/vision/yolo-tensorrt-deepstream-optimization/ Thu, 18 Jan 2024 00:00:00 GMT A practical case study on optimizing a PyTorch-based YOLO model using TensorRT and DeepStream for a recycled plastic sorting system, reducing inference time from 15ms to 7ms. vision