pycapacity 1.0.1

A Real-time capable robot capacity calculation module

Python real-time capable robot capacity module

In this directory you can find the generic robot capacity calculation module called pycapacity which you can easily integrate in your python project, for example

import pycapacity.pycapacity as capacity

This module integrates several velocity and force capacity calculation functions based on manipulability ellipsoids and polytopes. All the polytope functions have been implemented according to the paper:

On-line force capability evaluation based on efficient polytope vertex search
by Antun Skuric, Vincent Padois and David Daney
Published on ICRA2021

Module functions

• acceleration_ellipsoid: acceleration ellipsoid calculation (dynamic manipulability ellipsoid)
• acceleration_polytope: Acceleration polytope calculating function
• acceleration_polytope_withfaces: Acceleration polytope calculating function
• force_ellipsoid: force manipulability ellipsoid calculation
• force_polytope: Force polytope representing the capacities of the two robots in a certain configuration
• force_polytope_intersection: Force polytope representing the intersection of the capacities of the two robots in certain configurations.
• force_polytope_intersection_withfaces: Force polytope representing the intersection of the capacities of the two robots in certain configurations.
• force_polytope_sum_withfaces: Force polytope representing the minkowski sum of the capacities of the two robots in certain configurations.
• force_polytope_withfaces: Force polytope representing the capacities of the two robots in a certain configuration.
• hyper_plane_shift_method: Hyper plane shifting method implementation used to solve problems of a form:
• make_2d: Take a list of 3D(cooplanar) points and make it 2D
• make_unique: Remove repetitions of columns
• order_index: Order clockwise 2D points
• velocity_ellipsoid: velocity manipulability ellipsoid calculation
• velocity_polytope: Velocity polytope calculating function
• velocity_polytope_withfaces: Velocity polytope calculating function, with faces

Algorithms:

• hyper_plane_shift_method: Hyper plane shifting method implementation used to solve problems of a form:

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Code examples

See demo_notebook.ipynb for one example use case of the module.