Arm Robot Kinematics

This library provides classes and methods for performing kinematics calculations on an articulated robot arm.

Find the C++ version of this repository here.

Files

• ArmRobot.py - Contains the ArmRobot class which represents a specific robot arm configuration. It inherits from ArmRobotKinematics.

• ArmRobotKinematics.py - Contains the ArmRobotKinematics base class with methods for forward kinematics, inverse kinematics, calculating Jacobians etc.

• Frame.py - Contains the Frame class to represent each frame/link in the robot arm.

Usage

To use the library:

1. Define the robot configuration by instantiating ArmRobot and adding Frame objects in the __init__ method.

2. Import ArmRobot.

3. Create an instance of ArmRobot.

4. Use methods forward_kinematics(), iterative_inverse_kinematics(), or create your own geometry based inverse kinematics equation.

5. Joint values can be updated with the move_joint() method.

See docstrings and comments in code for more details.

Features

• Forward and inverse kinematics calculation.

• Jacobian calculation.

• Handles revolute, prismatic and fixed joints.

• Flexible robot arm configuration through links defined in ArmRobot.

Author

• Name: Ryan Barry
• Date created: June 26, 2023