On Mon, 29 Sep 2008, manuelbirlo [..] wrote:

> I've written a function which should calculate the manipulability measure of
> my KDL::Chain. For this purpose I create a JntToJacSolver an execute the
> JntToJac-function with the current joint values as input. So I get the
> resulting jacobian for the manipulability measure. Now my question is: leads
> this way to create a Jacobian to a correct manipulability measure
> sqrt(det(JJ^t))?
If you do the calculation for the matrix multiplication, the determinant
and the sqrt correctly, yes! :-)

> I have always values between 15000 and 20000 during a trajectory. Is this
> correct?
No idea! This depends on so many things: chosen units, chosen reference
frames, actual configuration, ...

> By the way: dou you have some papers about this topic?
For example:

@Article{           doty-etal-itra95,
   author          = {Doty, Keith L. and Melchiorri, Claudio and Schwartz,

Eric

                     M. and Bonivento, Claudio},
   title           = {Robot manipulability},
   journal         = {IEEE Trans. Robotics and Automation},
   year            = {1995},
   volume          = {11},
   number          = {3},
   pages           = {462--468}

}

Herman

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