Updated readme

Author: n3opl4n

README.md

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+Manipulator Performance Constraints for human-robot Cooperation
+
+# Description:
+Use any local performance index of a robotic manipulator to constrain the robot above a certain threshold.
+This is particularly useful for singularity avoidance in physical human-robot interaction
+
+A detailed description can be found in the following RCIM paper:
+- Dimeas, Fotios, Vassilis C. Moulianitis, and Nikos Aspragathos. "Manipulator performance constraints in human-robot cooperation." Robotics and Computer-Integrated Manufacturing (2017).
+
+and also in ICRA 2016 (early version):
+- Dimeas, Fotios, et al. "Manipulator performance constraints in Cartesian admittance control for human-robot cooperation." Robotics and Automation (ICRA), 2016 IEEE International Conference on. IEEE, 2016.
+
+A video demonstration: 
+<a href="http://www.youtube.com/watch?feature=player_embedded&v=1zTDmiDjDOA
+" target="_blank"><img src="http://img.youtube.com/vi/1zTDmiDjDOA/0.jpg" 
+alt="IMAGE ALT TEXT HERE" width="240" height="180" border="10" /></a>
+
+
+This repository includes the Matlab code that was used in the ICRA 2016 paper and the extended method in C++ that is presented in the RCIM journal. 
+
+The C++ implementation includes performance constraints in both translational and rotational axes. It also includes 3 ways of calculating them:
+⋅⋅* Serial: Each direction is calculated after the other. It might take a while
+⋅⋅* Parallel: Each direction is calculated in its own thread worker. Function returns when all calculations are over. This usually works in less than 1ms. Better have a multi-thread CPU.
+⋅⋅* Parallel non-blocking: Same as above but the function returns immediately. This can work in slow computers. WARNING! Be very careful when you use it, synchronization issues of the constraint forces may arise.
+
+# Usage:
+## C++
+> g++ demo.cpp performanceConstraints.cpp Jacobian.cpp  -o demo -larmadillo -lpthread -std=c++11
+
+The Jacobian matrix that is provided in symbolic form is for the KUKA LWR 4+
+
+### Requirements:
+- Armadillo library
+
+## Matlab
+1. Set the desired parameters for the robot and the performance
+constraints
+2. Run the simulation
+3. View the simulated motion of the robot and the plots
+
+### Requirements:
+- Robotics Toolbox for Matlab (http://www.petercorke.com/Robotics_Toolbox.html)
+
+### Notes: 
+- The simulation does not consider the joint limits so the robot
+might behave weird
+- This code has been tested with Robotics Toolbox 9.10 and Matlab R2014a
+
+
+Authors: Fotios Dimeas, Charalambos Papakonstantinou
+
+Copyright 2015-2017 Fotios Dimeas