manipulability

🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation

Stewart Platform Class repository

Autonomous mobile manipulation system (UR5e on MiR100 base) in ROS 2 Jazzy and Gazebo Harmonic, coordinated by BehaviorTree.CPP, Nav2, and MoveIt 2.

Stewart Platform Singularities Generation repository

This repository documents my mobile manipulator simulation work, starting as a semester study project and evolving into my own senior-level system design and implementation.

This repository showcases manipulability optimization based trajectory planning for planar 3-dof Redundant robot

A complete simulation framework for the KUKA youBot mobile manipulator, featuring an omnidirectional mecanum base, 5-DOF arm, observer-based state feedback control, and multi-environment integration using ROS Noetic, MATLAB, and CoppeliaSim.

From-scratch DH-based kinematics (DKM/IKM/DVM/IVM) for the Niryo One 6-DOF arm, with round-trip validation and manipulability analysis.

Geometric Jacobian and singularity analysis for the Yaskawa HC10 DTP robot (MATLAB)

This repository contains control algorithms and simulation computations using Matlab software

Task-specific manipulability and null-space redundancy optimization for cooperative bimanual manipulation, with reproducible dual-Franka MuJoCo experiments.

This repository simulates the simple planar robot with manipulability ellipsoid measures

Detect an approaching kinematic singularity in a 3R manipulator and switch to a damped, singularity-robust velocity controller before joint velocities blow up — then prove it beats a naive inverse-Jacobian controller.