AAA-2003 / ArmSim

Python program capable of Modeling any robotic arm virtually, Displaying modeled arm graphically, Simulating manipulation operations (FK) and Trajectory plotting, Computing solutions to reach the target (IK)

ArmSim

Robotic arm object modelling class

#Creates virtual model of robotic arm based on input characteristics given #User to Instantiate this class for making arm models #constructs arm using link() objects #Functions:

*models arm parameters

*performs forward kinematics

*displays arm graphically using matplotlib

#User Callable methods:

+ Forward Kinematics:

* get_end_pos()

* get_arm_pos()

* display_arm(prt_label = )

+ Inverse Kinematics

* hill_climb([], start=[])

* plot_trajectory([<start_pos>], [<end_pos>], display=)

* plot_path([[coordinates]...] , display=)

+ Getters and setters

* get_DOF()

* home() << sets arms angles to home angles

* get_angles()

* get_global_offset()

* set_global_offset([])

* get_work_area()

* set_work_area([<-x, +x, -y, +y>])

* get_display_limits()

* set_display_limits(<'x' or 'y' or 'z'>, [<upper, lower limit>])

* get_name()

* set_name()

* get_path_res()

* set_path_res()

* set_step_size([]) << for hill climbing (inverse kinematics)

* get_step_size() << for hill climbing (inverse kinematics)

* set_err_radius() << for hill climbing (inverse kinematics)

* get_err_radius() << for hill climbing (inverse kinematics)

* set_itr_limit() << for hill climbing (inverse kinematics)

* get_itr_limit() << for hill climbing (inverse kinematics)