https://github.com/austinvishal/capa

This repository contains code for visualizing robot capability specially wrench polytope capacity of cable driven shoulder joint
https://github.com/austinvishal/capa

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

Last synced: 8 months ago
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This repository contains code for visualizing robot capability specially wrench polytope capacity of cable driven shoulder joint

• Host: GitHub
• URL: https://github.com/austinvishal/capa
• Owner: austinvishal
• License: mit
• Created: 2024-07-06T12:01:16.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2024-07-06T18:24:52.000Z (over 1 year ago)
• Last Synced: 2025-03-16T00:44:10.212Z (about 1 year ago)
• 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
• Language: MATLAB
• Homepage:
• Size: 9.91 MB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          


Robot Capability Mockup: Wrench Polytope Capacity of Cable driven 3-DOF Shoulder Joint  





V. Ramadoss : Visit my Youtube channel by clicking the video preview below





# Description of the Model

This 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.

# :page_facing_up: Dependencies

* [MPT3](https://www.mpt3.org/): for the computational geometry tools .



The 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 

singular configuration.

[![Watch more trajectory videos](https://raw.githubusercontent.com/austinvishal/CaPa/main/assets/thumbnailmain.png)](https://raw.githubusercontent.com/austinvishal/CaPa/main/assets/shoulderjoint.mp4)

# Graphic Mockup

A library of graphical and computational tools has been written in order to simplify the analysis and to provide a sophisticated and effective mockup. 





![](https://github.com/austinvishal/CaPa/blob/main/assets/thumbnail.png)

The degenerated polytope ie plane is shown for the particular configuration of the cable driven shoulder joint

![](https://github.com/austinvishal/CaPa/blob/main/assets/scaledzonotope6spsstaskspace.png)

The scaled wrench set of the cable driven shoulder joint is shown in the graphic mockup below

![](https://github.com/austinvishal/CaPa/blob/main/assets/scaledzonotope6spss.png)



### Maintainer

This repository is maintained by:

| | |

|:---:|:---:|

| [](https://github.com/austinvishal) | [Vishal Ramadoss](https://github.com/austinvishal) |