pyrobolearn/examples/manipulability

Manipulability Ellipsoids

We provide examples on how to use manipulability ellipsoids.

Here are a short description of the various examples the user can try:

1. 2d_manipulability.py: draw the 2D velocity and force manipulability ellipsoids on the end-effector of a 3-link planar manipulator.
2. com_manipulability_tracking.py: track the velocity manipulability ellipsoid of the center of mass of a robot with a fixed base.
3. com_manipulability_tracking_with_balance.py: track the velocity manipulability ellipsoid of the center of mass of a floating-base robot while keeping its balance.
4. com_dynamic_manipulability_tracking_with_balance.py: track the dynamic manipulability ellipsoid of the center of mass of a floating-base robot while keeping its balance.
5. right_arm_manipulability_tracking_with_balance.py: track a desired manipulability for its right arm, while reaching a desired end-effector position and keeping balance

References:

• [1] "Robotics: Modelling, Planning and Control", Siciliano et al., 2010
• [2] "Springer Handbook of Robotics", Siciliano et al., 2008
• [3] "Geometry-aware Tracking of Manipulability Ellipsoids", Jaquier et al., R:SS, 2018