closeformIK 1.0.0

closeformik Package with dynamic libraries for both Linux and Windows

closeformik is an analytical inverse kinematics calculation library for a 6-DOF robotic arm. When solving for inverse kinematics, please call the CIK function. The input to the function is eeTform (end-effector flange position), MdhParams (DH parameter table: d, a, alpha, theta), jointlimits (joint angle limits), joint_ref (reference joint angles): A typical application example is:

from cik import CIK

MdhParams = np.array([ [a1, alpha1, d1, theta1], [a2, alpha2, d2, theta2], [a3, alpha3, d3, theta3], [a4, alpha4, d4, theta4], [a5, alpha5, d5, theta5], [a6, alpha6, d6, theta6] ])

Jointlimits = [ [limit_n_j1, limit_p_j1], # Joint 1 [limit_n_j2, limit_p_j2], # Joint 2 [limit_n_j3, limit_p_j3], # Joint 3 [limit_n_j4, limit_p_j4], # Joint 4 [limit_n_j5, limit_p_j5], # Joint 5 [limit_n_j6, limit_p_j6] # Joint 6 ]

sol = CIK(eeTform, MdhParams, Jointlimits, joint_ref=joint_ref)