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Mr. Kim put forth a much more modest bargain in Hanoi. The North would dismantle the Yongbyon nuclear complex, an aging facility at the heart of its nuclear program, for an end to the sanctions most damaging to its economy, those enacted since 2016.

Talks quickly broke down, and the summit collapsed, with both sides pointing fingers.

In a speech earlier this year, Mr. Kim warned that his country might take a “new way” of protecting its interest if the United States insisted on maintaining sanctions.

During Thursday’s test of the weapon, which was conducted by the North’s Academy of Defense Science, Mr. Kim said its development “serves as an event of very weighty significance in increasing the combat power of the People’s Army,” the North Korean news agency said.

The test was the first since last November when the country said Mr. Kim had attended the test of an unidentified “newly developed ultramodern tactical weapon.”

After that test, the South Korean news media, quoting government sources, said that North Korea appeared to have tested multiple-rocket launchers, not missiles. Besides the North’s nuclear weapons and missiles, which are probably capable of reaching the continental United States, such rockets are considered one of the greatest military threats to South Korea, because the North deploys them near the countries’ border to target the South’s capital, Seoul, a city of 10 million people.

The Defense Ministry of South Korea did not immediately comment on the North’s latest weapon test. But officials there said the test of a “tactical weapon” indicated that Mr. Kim was being careful not to step over the line by conducting nuclear and long-range ballistic missile tests.

While Mr. Kim is clearly impatient with Washington, he has avoided direct criticism of Mr. Trump. Instead, he has portrayed other members of the administration as hawks, or warmongers, making clear the only way to resolve the issues is in personality-driven diplomacy with Mr. Trump.