Usage of this code required the robotics simulation program V-REP, or otherwise a real life 7-R with motion and sensor tracking.
Note: VREP is now discontinued, replaced by CoppeliaSim which was not tested.
The third party libraries used are difficult to set up on Mac OS, and even more so on Windows. Linux is recommended for getting the system up and running.
If using V-REP, ensure you use the scene object as *.ttt.
The program has various calculations in place, such as calculating the end effector using Denavit Hartenberg or Product of Exponentials.
Further, positionIdentification is able to calculate the Manipulability Ellipsoid based on the current position.
Using the calculated provided, we avoid Gimbal Lock when possible.
Do note, if using on a different type of robot, the calculations would have to be redone.
Here is an example of the Manipulability Ellipsoid using the following data:
| Angle 1 | Angle 2 | Angle 3 | Angle 4 | Angle 5 | Angle 6 |
|---|---|---|---|---|---|
| 30 | -45 | -60 | 60 | 30 | 60 |
| Matrix | ⠀⠀ | ⠀⠀ | ⠀⠀ |
|---|---|---|---|
| -0.811 | 0.207 | -0.546 | -0.03 |
| -0.156 | -0.978 | -0.139 | 0.171 |
| -0.563 | -0.027 | 0.826 | 0.866 |
| 0 | 0 | 0 | 1 |
| Start Position | Middle Position | End Position |
|---|---|---|
 |  |  |
