Open source files for the paper titled: "Sensor Observability Analysis for Maximizing Task-Space Observability of Articulated Robots"

Status: Manuscript currently under review

This repository contains simulation files for a custom 3-DOF planar robot using the structure shown below to showcase the application and utility of the proposed method Sensor Observability Analysis. Various redundancy resolution strategies can be selected to observe the different effects of each strategy. The redundancy resolution strategies include:

• minimize joint motion
• maximize kinematic manipulability index
• maximize sensor observability index
• maximize sensor observability in the x- or y-axis

File Struture:

• README.md file: This readme file
• Custom3DOFRobotSimulation Folder: Contains all simulation files and additional functions to support main file
  • main.m: Main smulation file. Flags at the beginning of the file are used to select between the different strategies and also to choose whether to display the robot animation or not.
  • calc3DOFdwdq.m: Function to calculate the partial derivatives for kinematic manipulability index.
  • calc3DOFdodq.m: Function to calculate the partial derivatives for sensor observability index.
  • calc3DOFdodq1xis.m: Function to calculate the partial derivatives for sensor observability index in a single axis.

Installation:

Requires Matlab with Robotics Toolbox and Image Processing Toolbox (tested with Matlab R2021a)

Contributors/Authors:

• Christopher Yee WONG (christopher.wong2 [at] usherbrooke.ca)
• Wael SULEIMAN (wael.suleiman [at] usherbrooke.ca)