Contributions
If you are interested in further development of this repository - contact me: michal.gr.bednarek@doctorate.put.poznan.pl
robotics_excercises
Forward kinematics excecises for robotics class in Python 3.5. Contol Engineering and Robotics, Electrical Faculty, 2018.
Dependencies
Install dependencies using pip3:
- robopy - transformations, robots, forward and inverse kinematics, etc.
- vtk - visualization library
- numpy - numerical computing
HOWTO:
Yo have two options:
-
Run program in command line. In place of <robot_name> type puma or orion In case of orion remember that you have to adjust default code: python main.py <robot_name>
-
Run program from PyCharm. Remember to set parameters in Edit Configurations.
Excercises
Edit excercises which can be found in excercises folder to solve problems and propose solutions. In main.py remember to change the function to be executed.
00. Load robot
Just load and display two types of robot.
01. Joint move
Create paths using point-to-point move. Concatenate sub-paths.
02. Linear move
Create paths using linear move. Concatenate sub-paths. Notice the influence of precision of interpolation.
03. Playground
Create pick and place movement using point-to-point and linear moves.