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) )
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))
