Python Robotics Toolkit

 

Based on http://www.petercorke.com/Robotics_Toolbox.html

I've been working through getting a kinematic model for the InMoov, recently, I stumbled across a python library based on the matlab robotics toolkit.  It uses NumPy for much of the heavy lifting math operations.  

So far I've been able to create a very small script to compute forward kinematcis of a set of links using this python robotics toolkit

The blow example is actually from the Puma560 arm DH parameters, but it shows the 4x4 transformation matrix for forward kinematic computation when all the joint angles are set to zero.    I hope to have a much less contrived example soon. (the second matrix is the angles of the arm up)  Joint angles are shown in radians.

 

name: InMoov
manufacturer: InMoov Nation
commment: params of 12/14/2014
Link 1------------------------
alpha = 1.570796        A = 0.000000    theta = 0.000000        D=0.000000      jtype: R        conv: (std)
Link 2------------------------
alpha = 0.000000        A = 0.431800    theta = 0.000000        D=0.000000      jtype: R        conv: (std)
Link 3------------------------
alpha = -1.570796       A = 0.020300    theta = 0.000000        D=0.150050      jtype: R        conv: (std)
Link 4------------------------
alpha = 1.570796        A = 0.000000    theta = 0.000000        D=0.431800      jtype: R        conv: (std)
Link 5------------------------
alpha = -1.570796       A = 0.000000    theta = 0.000000        D=0.000000      jtype: R        conv: (std)
Link 6------------------------
alpha = 0.000000        A = 0.000000    theta = 0.000000        D=0.000000      jtype: R        conv: (std)


Q = [0, 0, 0, 0, 0, 0]
[[ 1.       0.       0.       0.4521 ]
 [ 0.       1.       0.      -0.15005]
 [ 0.       0.       1.       0.4318 ]
 [ 0.       0.       0.       1.     ]]
Q = [0, 1.5707963267948966, -1.5707963267948966, 0, 0, 0]
[[  1.00000000e+00   1.50343015e-49  -3.21207594e-82   2.03000000e-02]
 [  1.50343015e-49   1.00000000e+00   0.00000000e+00  -1.50050000e-01]
 [  0.00000000e+00   0.00000000e+00   1.00000000e+00   8.63600000e-01]
 [  0.00000000e+00   0.00000000e+00   0.00000000e+00   1.00000000e+00]]
 
 
 

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GroG's picture

WOOHOO! .. so the resultant

WOOHOO! .. so the resultant matrix are the DH parameters?

for other FK computations?

or one is the DH parameters & the other is the result @ 0 radians (all joints) ?