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19 lines
1017 B
Markdown
19 lines
1017 B
Markdown
## Manipulability Ellipsoids
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We provide examples on how to use manipulability ellipsoids.
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Here are a short description of the various examples the user can try:
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1. `2d_manipulability.py`: draw the 2D velocity and force manipulability ellipsoids on the end-effector of a
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3-link planar manipulator.
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2. `com_manipulability_tracking.py`: track the velocity manipulability ellipsoid of the center of mass of a robot
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with a fixed base.
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3. `com_manipulability_tracking_with_balance.py`: track the velocity manipulability ellipsoid of the center of mass
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of a floating-base robot while keeping its balance.
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4. `com_dynamic_manipulability_tracking_with_balance.py`: track the dynamic manipulability ellipsoid of the center
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of mass of a floating-base robot while keeping its balance.
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References:
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- [1] "Robotics: Modelling, Planning and Control", Siciliano et al., 2010
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- [2] "Springer Handbook of Robotics", Siciliano et al., 2008
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- [3] "Geometry-aware Tracking of Manipulability Ellipsoids", Jaquier et al., R:SS, 2018
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