update doco for manipulability
@@ -343,18 +343,18 @@ class Robot(DynamicsMixin, IKMixin):
| Measure | Description |
+-------------------+-------------------------------------------------+
| ``"yoshikawa"`` | Volume of the velocity ellipsoid, *distance* |
- | | from singularity |
+ | | from singularity [Yoshikawa85]_ |
+-------------------+-------------------------------------------------+
| ``"invcondition"``| Inverse condition number of Jacobian, isotropy |
- | | of the velocity ellipsoid |
+ | | of the velocity ellipsoid [Klein87]_ |
+-------------------+-------------------------------------------------+
| ``"minsingular"`` | Minimum singular value of the Jacobian, |
- | | *distance* from singularity |
+ | | *distance* from singularity [Klein87]_ |
+-------------------+-------------------------------------------------+
| ``"asada"`` | Isotropy of the task-space acceleration |
| | ellipsoid which is a function of the Cartesian |
| | inertia matrix which depends on the inertial |
- | | parameters |
+ | | parameters [Asada83]_ |
+-------------------+-------------------------------------------------+
**Trajectory operation**:
@@ -364,6 +364,8 @@ class Robot(DynamicsMixin, IKMixin):
of ``q``.
.. note::
+
+ - Invokes the ``jacob0`` method of the robot if ``J`` is not passed
- The "all" option includes rotational and translational
dexterity, but this involves adding different units. It can be
more useful to look at the translational and rotational
@@ -374,16 +376,18 @@ class Robot(DynamicsMixin, IKMixin):
parameters.
:references:
- - Analysis and control of robot manipulators with redundancy,
- T. Yoshikawa,
- Robotics Research: The First International Symposium
- (M. Brady and R. Paul, eds.),
- pp. 735-747, The MIT press, 1984.
- - A geometrical representation of manipulator dynamics and its
- application to arm design, H. Asada,
+
+ .. [Yoshikawa85] Manipulability of Robotic Mechanisms. Yoshikawa T., The International Journal of Robotics Research. 1985;4(2):3-9. doi:10.1177/027836498500400201
+ .. [Asada83] A geometrical representation of manipulator dynamics and
+ its application to arm design, H. Asada,
Journal of Dynamic Systems, Measurement, and Control,
vol. 105, p. 131, 1983.
- - Robotics, Vision & Control, P. Corke, Springer 2011.
+ .. [Klein87] Dexterity Measures for the Design and Control of
+ Kinematically Redundant Manipulators. Klein CA, Blaho BE.
+ The International Journal of Robotics Research. 1987;6(2):72-83.
+ doi:10.1177/027836498700600206
+
+ - Robotics, Vision & Control, Chap 8, P. Corke, Springer 2011.
"""
if axes == 'all':
