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https://github.com/austinvishal/hyperplane-shifting

This repository is a MATLAB version of hyperplane shifting algorithm that can be used to represent available wrench set facets
https://github.com/austinvishal/hyperplane-shifting

convex-hull convex-hull-algorithms convex-optimization convex-polygons convex-polyhedron convex-programming convexhull hyperplane hyperplane-optimization hyperplane-separation-theorem polytope polytope-functions polytopes wrench zonotope

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This repository is a MATLAB version of hyperplane shifting algorithm that can be used to represent available wrench set facets

Host: GitHub
URL: https://github.com/austinvishal/hyperplane-shifting
Owner: austinvishal
License: apache-2.0
Created: 2024-07-06T17:58:25.000Z (6 months ago)
Default Branch: main
Last Pushed: 2024-07-06T18:05:48.000Z (6 months ago)
Last Synced: 2024-07-06T19:21:49.780Z (6 months ago)
Topics: convex-hull, convex-hull-algorithms, convex-optimization, convex-polygons, convex-polyhedron, convex-programming, convexhull, hyperplane, hyperplane-optimization, hyperplane-separation-theorem, polytope, polytope-functions, polytopes, wrench, zonotope
Language: MATLAB
Homepage:
Size: 40 KB
Stars: 0
Watchers: 1
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

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README

# HyperPlane-Shifting
This repository is a MATLAB version of hyperplane shifting algorithm that can be used to represent available wrench set facets. The available wrench set is the set of wrenches that can be generated at platform, this set is a convex polytope which is a type of zonotope. The characterization of the facets of available wrench set are visualized using the scripts.

# 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/HyperPlane-Shifting/blob/main/assets/thumbnail.png)

# Acknowledgements

- I would like to acknowledge the article titled "Characterization of Parallel Manipulator Available Wrench Set Facets" by M.Gouttefarde et al.

### Maintainer

This repository is maintained by:

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