Kinematics Tutorial

This tutorial covers the fundamentals of robot kinematics using ManipulaPy.

Introduction

Robot kinematics deals with the geometry of robot motion without considering forces.

Basic Forward Kinematics

import numpy as np
from ManipulaPy.kinematics import SerialManipulator

# Create manipulator
robot = SerialManipulator(
    M_list=M,
    omega_list=omega,
    S_list=S_list,
    B_list=B_list
)

# Compute forward kinematics
joint_angles = np.array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6])
T = robot.forward_kinematics(joint_angles)

Inverse Kinematics

# Define desired end-effector pose
T_desired = np.eye(4)
T_desired[:3, 3] = [0.5, 0.3, 0.4]  # Position

# Solve inverse kinematics
solution, success, iterations = robot.iterative_inverse_kinematics(
    T_desired=T_desired,
    thetalist0=np.zeros(6),
    eomg=1e-6,
    ev=1e-6
)

See Also