A simple Robotics package
Project description
A Robotics Toolbox from Maziar Palhang
This is a simple Robotics Toolbox package.
To install this package:
on windows:
py -m pip install AIUT_RoboticsToolbox
on Linux and Mac:
python3 -m pip install AIUT_RoboticsToolbox
To upgrade:
on Windows:
py -m pip install AIUT_RoboticsToolbox --upgrade
on Linux and Mac:
python3 -m pip install AIUT_RoboticsToolbox --upgrade
To use this package in your program, add the following line:
from AIUT_RoboticsToolbox.Toolbox import *
Routines:
version() #prints the version of the toolbox
rotx(ang, mode='rad') # mode='rad' or 'deg', default is 'rad'
roty(ang, mode='rad') # mode='rad' or 'deg', default is 'rad'
rotz(ang, mode='rad') # mode='rad' or 'deg', default is 'rad'
hrotx(ang, mode='rad') # homogeneous rotation about x, mode='rad' or 'deg', default is 'rad'
hroty(ang, mode='rad') # homogeneous rotation about y, mode='rad' or 'deg', default is 'rad'
hrotz(ang, mode='rad') # homogeneous rotation about z, mode='rad' or 'deg', default is 'rad'
htransl(x,y,z) # homogeneous translation
rpy2r(gamma,beta,alpha, mode='rad') # XYZ rotation
r2rpy(r, mode='rad')
euler2r(alpha,beta,gamma, mode='rad') # ZYZ rotation
r2euler(r, mode='rad')
angvec2r(theta,v, mode='rad')
r2angvec(r, mode='rad')
vec2skew(k) #make a skew matrix from a 3 element vector
skew2vec(S) #make a 3 element vector from a skew matrix
vec2skewa(k) #make an augmented skew matrix from a 6 element vector
skewa2vec(S) #make a 6 element vector from an augmented skew matrix
r2skew(r) #finds the corresponding skew matrix of a rotation matrix
mlog(r) #finds the matrix logarithm of r
mexp(S) #finds matrix exponentiation of skew matrix S
plot(r) #plot a rotation matrix
hplot(T) #plot a frame \
Classes:
SerialLink(name,links)
Puma560(name)
SCARA(name,l1,l2)\
