This repository contains matlab code used to compute manipulability of the kuka miiwa robot. If you use this cose please cite the work:
F. Chen, M. Selvaggio and D. G. Caldwell, "Dexterous Grasping by Manipulability Selection for Mobile Manipulator With Visual Guidance," in IEEE Transactions on Industrial Informatics, vol. 15, no. 2, pp. 1202-1210, Feb. 2019. doi: 10.1109/TII.2018.2879426