skrobot.coordinates.math.manipulability¶
- skrobot.coordinates.math.manipulability(J)[source]¶
Return manipulability of given matrix.
Definition of manipulability is following.
\(w = \sqrt{\det J(\theta)J^T(\theta)}\)
- Parameters:
J (numpy.ndarray) – jacobian
- Returns:
w – manipulability
- Return type: