RSShand_setrill2.world File Reference

Detailed Description

The RSS-11 example with the drizzler.

Note that setrill is the Catalan for oil-drizzler.

Please note that this is open loop and used only to generate the .cuik file (and to display solutions).

A rough idea of what we do to process this example include:

  • Geneate the kinematic equations.
  • Generate the contact equations.
  • Merge the two system of variables (kinematics of the hand and the contact equations).
  • Add the equations defining the eigen-graps.
  • Compute the atlas and obtain the center for each chart.
  • Use a Matlab script to compute the manipulability
  • Finaly we generate the plots (atlas with colors plus configurations).

The full set of steps to obtain the result in the paper is listed in the RSSChain_setrill2 script (see the scripts directory).

Definition in file RSShand_setrill2.world.