IK-Geo
This implementation of the core IK-Geo algorithms was adapted from IK-Geo. For details on the algorithms used, refer to the original source or to the paper "IK-Geo: Unified Robot Inverse Kinematics Using Subproblem Decomposition".
To install
This can be installed from pypi with:
pip install ik_geo
To install the package from this repository locally, use:
pip install .
To Use
Refer to examples/sample.py for a full code example.
To compute the IK solutions for a specific robot, you can either select one of the hardcoded robots available or provide your own kinematics. If you provide your own kinematics, you must do so as a Product of Exponentials (POE). This is either with 6 or 7 h vectors (rotation axes) and 7 or 8 p vectors (displacements), respectively. Note that 7-joint bots are not yet supported, so the user must choose one joint to fix to give 6 h vectors and 7 p vectors
Once you have your kinematics, you need to choose the correct decomposition strategy from: { "spherical_two_parallel", "spherical_two_intersecting", "spherical", "three_parallel_two_intersecting", "three_parallel", "two_parallel", "two_intersecting", "gen_six_dof" } to use. If you choose the wrong one, you will get wrong answers.
Once you have configured your IK solver, you can get a list of IK solutions by calling the desired ik function:
from ik_geo import Robot
h # 6x3 array
p # 7x3 array
robot = Robot.spherical_two_intersecting(h,p)
R = [[0, 0, 1], [0, 1, 0], [-1, 0, 0]]
t = [-1, 3, 0]
# For all possible solutions, as well as whether or not they are least squares
solutions = robot.get_ik(R, t)
# For all possible IK solutions sorted by error
solutions = robot.get_ik_sorted(R, t)
Performance
While this implementation can be used on a wide range of manipulators, it performs much better on when the solution can be found entirely analytically. The following table shows which method is used for each type of kinematics:
| Solution Type | Robot Kinematic Family | Example |
|---|---|---|
| Closed-form | Spherical joint | Franka Production 3, fixed $q_5$ |
| and two intersecting axes | KUKA LBR iiwa 7 R800 , fixed $q_3$ | |
| and two parallel axes | ABB IRB 6640 | |
| Three parallel axes | N/A | |
| and two intersecting axes | Universal Robots UR5 | |
| and two parallel axes | N/A | |
| 1D search | Two intersecting axes | Kassow Robots KR810, fixed $q_7$ |
| and two intersecting axes | FANUC CRX-10iA/L | |
| and two parallel axes | Kawasaki KJ125 | |
| Two parallel axes | N/A | |
| and two parallel axes | N/A | |
| Two intersecting axes $k, k+2$ | ABB YuMi, fixed $q_3$ | |
| and two intersecting axes | RRC K-1207i, fixed $q_6$ | |
| and two parallel axes | N/A | |
| 2D search | General 6R | Kassow Robots KR810, fixed $q_6$ |
1 maintainer
Metadata
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Release files for ik-geo 1.0.3
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | Provenance | Actions |
|---|---|---|---|---|
| ik_geo-1.0.3.tar.gz | 53.4 kB | Without provenance | Details for ik_geo-1.0.3.tar.gz |
Built distributions (wheels)
Total release size: 15.7 MB
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Release files / ik_geo-1.0.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
| Download URL | ik_geo-1.0.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl |
|---|---|
| Size | 582.7 kB |
| Tags | CPython 3.9 Linux glibc 2.17+ x86-64 |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
maturin/1.7.0
|
Release files / ik_geo-1.0.3-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.whl
| Download URL | ik_geo-1.0.3-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.whl |
|---|---|
| Size | 540.7 kB |
| Tags | CPython 3.9 Linux glibc 2.12+ x86-32 |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
maturin/1.7.0
|
Release files / ik_geo-1.0.3-cp39-cp39-macosx_11_0_arm64.whl
| Download URL | ik_geo-1.0.3-cp39-cp39-macosx_11_0_arm64.whl |
|---|---|
| Size | 492.9 kB |
| Tags | CPython 3.9 macOS 11.0+ ARM64 |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
maturin/1.7.0
|
Release files / ik_geo-1.0.3-cp39-cp39-macosx_10_12_x86_64.whl
| Download URL | ik_geo-1.0.3-cp39-cp39-macosx_10_12_x86_64.whl |
|---|---|
| Size | 551.2 kB |
| Tags | CPython 3.9 macOS 10.12+ x86-64 |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
maturin/1.7.0
|
Release files / ik_geo-1.0.3-cp38-none-win_amd64.whl
| Download URL | ik_geo-1.0.3-cp38-none-win_amd64.whl |
|---|---|
| Size | 369.0 kB |
| Tags | CPython 3.8 Windows x86-64 |
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SHA-256 checksum How to use checksums |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
maturin/1.7.0
|
Release files / ik_geo-1.0.3-cp38-none-win32.whl
| Download URL | ik_geo-1.0.3-cp38-none-win32.whl |
|---|---|
| Size | 348.2 kB |
| Tags | CPython 3.8 Windows x86-32 |
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SHA-256 checksum How to use checksums |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
maturin/1.7.0
|
Release files / ik_geo-1.0.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
| Download URL | ik_geo-1.0.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl |
|---|---|
| Size | 582.6 kB |
| Tags | CPython 3.8 Linux glibc 2.17+ x86-64 |
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SHA-256 checksum How to use checksums |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
maturin/1.7.0
|
Release files / ik_geo-1.0.3-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl
| Download URL | ik_geo-1.0.3-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl |
|---|---|
| Size | 540.5 kB |
| Tags | CPython 3.8 Linux glibc 2.12+ x86-32 |
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SHA-256 checksum How to use checksums |
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| Upload date | |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
maturin/1.7.0
|
Security for ik-geo 1.0.3
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