Dual arm manipulator operating a handwheel
Operating a handwheel with two schunk LWA 4D manipulators. Corresponding paper in IROS 2015.
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manipulation
Manipulability Map
It often happens that you are interested to know in which area you robot has high manipulability and in which area it has low manipulability. There are several approaches for that. In this work, I implemented the Yoshikawa manipulability index. I discretized the joint space for each joint, then I compute the manipulability index and dump all
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