{"id":21331824,"url":"https://github.com/austinvishal/capa","last_synced_at":"2026-05-16T08:34:35.814Z","repository":{"id":247080318,"uuid":"824959702","full_name":"austinvishal/CaPa","owner":"austinvishal","description":"This repository contains code for visualizing robot capability specially wrench polytope capacity of cable driven shoulder joint","archived":false,"fork":false,"pushed_at":"2024-07-06T18:24:52.000Z","size":10393,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-03-16T00:44:10.212Z","etag":null,"topics":["cable-robot","capacity","convex-hull-algorithms","convex-optimization","convex-polygons","convex-polyhedron","convex-programming","convexhull","hyperplane","manipulation","polygon","polytope","polytope-functions","polytopes","robotics","trajectory-analysis","trajectory-optimization","wrench","zonotope"],"latest_commit_sha":null,"homepage":"","language":"MATLAB","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/austinvishal.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-07-06T12:01:16.000Z","updated_at":"2024-07-08T10:11:10.000Z","dependencies_parsed_at":"2025-01-22T13:50:27.325Z","dependency_job_id":"59de485c-f842-4f58-aff9-3e51857f0491","html_url":"https://github.com/austinvishal/CaPa","commit_stats":null,"previous_names":["austinvishal/capa"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/austinvishal/CaPa","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/austinvishal%2FCaPa","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/austinvishal%2FCaPa/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/austinvishal%2FCaPa/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/austinvishal%2FCaPa/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/austinvishal","download_url":"https://codeload.github.com/austinvishal/CaPa/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/austinvishal%2FCaPa/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":269931473,"owners_count":24498722,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-08-11T02:00:10.019Z","response_time":75,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cable-robot","capacity","convex-hull-algorithms","convex-optimization","convex-polygons","convex-polyhedron","convex-programming","convexhull","hyperplane","manipulation","polygon","polytope","polytope-functions","polytopes","robotics","trajectory-analysis","trajectory-optimization","wrench","zonotope"],"created_at":"2024-11-21T22:44:39.766Z","updated_at":"2026-05-16T08:34:30.789Z","avatar_url":"https://github.com/austinvishal.png","language":"MATLAB","funding_links":[],"categories":[],"sub_categories":[],"readme":"\u003ch1 align=\"center\"\u003e\nRobot Capability Mockup: Wrench Polytope Capacity of Cable driven 3-DOF Shoulder Joint  \u003c/h1\u003e\n\u003cdiv align=\"center\"\u003e\n\u003ci\u003e\nV. Ramadoss : Visit my Youtube channel by clicking the video preview below\n\u003c/i\u003e\n\u003c/div\u003e\n\n# Description of the Model\n\nThis repository contains code for visualizing robot capability specially wrench polytope capacity of cable driven shoulder joint. The shoulder joint is passive and placed at the center. The cable driven shoulder joint is driven by n+3 cables i.e 3 dof joint driven by 6 cables for more workspace. This could be used in many applications like exoskeletons, tensegrity joints, parallel robots.\n\n# :page_facing_up: Dependencies\n* [MPT3](https://www.mpt3.org/): for the computational geometry tools .\n\n\n\u003cp align=\"center\"\u003e\n\nThe video below shows a simple trajectory followed by cable driven shoulder joint showing active wrench capacity using polytope representation and also becomes degenerate when the joint is at \nsingular configuration.\n\n[![Watch more trajectory videos](https://raw.githubusercontent.com/austinvishal/CaPa/main/assets/thumbnailmain.png)](https://raw.githubusercontent.com/austinvishal/CaPa/main/assets/shoulderjoint.mp4)\n\n# Graphic Mockup\n\nA library of graphical and computational tools has been written in order to simplify the analysis and to provide a sophisticated and effective mockup. \n\u003c/p\u003e\n\n\u003cp align=\"center\"\u003e\n\n![](https://github.com/austinvishal/CaPa/blob/main/assets/thumbnail.png)\n\nThe degenerated polytope ie plane is shown for the particular configuration of the cable driven shoulder joint\n\n![](https://github.com/austinvishal/CaPa/blob/main/assets/scaledzonotope6spsstaskspace.png)\n\nThe scaled wrench set of the cable driven shoulder joint is shown in the graphic mockup below\n\n![](https://github.com/austinvishal/CaPa/blob/main/assets/scaledzonotope6spss.png)\n\n\u003c/p\u003e\n\n\n\n### Maintainer\n\nThis repository is maintained by:\n\n| | |\n|:---:|:---:|\n| [\u003cimg src=\"https://github.com/austinvishal.png\" width=\"40\"\u003e](https://github.com/austinvishal) | [Vishal Ramadoss](https://github.com/austinvishal) |\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Faustinvishal%2Fcapa","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Faustinvishal%2Fcapa","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Faustinvishal%2Fcapa/lists"}