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#