Example #1
0
def asada(robot, q):
    J = jacob0(robot, q)
    Ji = inv(J)
    M = inertia(robot, q)
    Mx = Ji.T * M * Ji
    e = eig(Mx)[0]

    return real(e.min(0) / e.max(0))
def asada(robot,q):
        J = jacob0(robot,q)
        Ji = inv(J)
        M = inertia(robot,q)
        Mx = Ji.T*M*Ji
        e = eig(Mx)[0]

        return real( e.min(0)/e.max(0) )
Example #3
0
def yoshi(robot, q):
    J = jacob0(robot, q)
    return sqrt(det(J * J.T))
def yoshi(robot,q):
        J = jacob0(robot,q)
        return sqrt(det(J*J.T))