poekit 0.1.0

Python implementation of Product of Exponentials (POE) and Screw Theory algorithms derived from the ST24R (Screw Theory Toolbox for Robotics) MATLAB by Dr. Jose M. Pardos-Gotor

poekit

Screw Theory Toolkit for Python

🌀 Product of Exponentials (POE) • 🔩 Screw Theory • 🌐 SE(3) • 📐 Robot Kinematics

Built for Robotics Research, Education, and Simulation

🔬 Inspired and adapted from the ST24R MATLAB Toolbox

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T = exp([S]θ) M

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🔍 Overview

poekit is a professional Python toolkit for robot modeling and analysis based on the Product of Exponentials (POE) formulation, Screw Theory, and rigid-body motion in SE(3). Designed for researchers, students, and robotics engineers, it provides modern geometric tools for kinematics, dynamics, and motion analysis.

The package includes comprehensive utilities for twists, wrenches, Jacobians, rigid-body transformations, and robot dynamics, enabling rapid development, education, simulation, and robotics research.

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✨ Features

• 🔩 Screw Theory Operations
• 🌀 Twist Algebra & Motion Operations
• ⚙️ Wrench & Force-Moment Operations
• 🌐 SE(3) Rigid-Body Transformations
• 🧭 SO(3) Rotation Representations
• 🤖 Robot Kinematics & Dynamics
• 📐 Spatial and Body Jacobians
• 🎯 Paden–Kahan Inverse Kinematics Subproblems

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📦 Installation

PyPI

pip install poekit

From Source

git clone https://github.com/VibhuSharma19/poekit.git

cd poekit

pip install -e .

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🚀 Quick Example

from poekit.forward_kine import ForwardKine

T = ForwardKine.forward_kinematics_poe(TwMag)

print(T)

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📂 Project Structure

poekit
│
├── examples
│   ├── jaco2_fk.py                       # Example: Forward kinematics analysis of the Kinova Jaco2 manipulator
│   ├── jaco2_ik.py                       # Example: Inverse kinematics analysis of the Kinova Jaco2 manipulator
│   └── jaco2_jacobian.py                 # Example: Jacobian computation and analysis of the Kinova Jaco2 manipulator
│
└── src
    └── poekit
        ├── coriolis_utils.py             # Coriolis and centrifugal effects in robot dynamics
        ├── expmapping.py                 # Exponential map and Lie group operations
        ├── forward_kine.py               # Forward kinematics using the Product of Exponentials formulation
        ├── inertia_utils.py              # Inertia and mass matrix computation
        ├── jacobian.py                   # Geometric Jacobian computation in spatial and body forms
        ├── paden_kahan.py                # Paden–Kahan subproblem solvers
        ├── potential_utils.py            # Potential energy and gravity vector computation
        ├── rotation_utils.py             # SO(3) rotation representations and operators
        ├── skewops.py                    # Skew-symmetric matrix operators
        ├── tform_utils.py                # SE(3) rigid-body transformation utilities
        ├── twist_utils.py                # Twist algebra and screw motion utilities
        ├── utils.py                      # Common geometric and mathematical helper functions
        └── wrench_utils.py               # Wrench algebra and force-moment utilities

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🧠 Mathematical Foundations

poekit is built around:

• 🌀 Product of Exponentials (POE)
• 🔩 Screw Theory
• 🌐 SO(3) & SE(3)
• 🌀 Twists & ⚙️ Wrenches
• 🔄 Adjoint Transformations
• 📐 Geometric Jacobians
• 🎯 Paden–Kahan Subproblems

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🎓 Core Concepts

Twist            ξ = (v, ω)

Screw Axis       ω

Exponential Map  e^[Sθ]

Rigid Motion     T ∈ SE(3)

Adjoint          Ad(T)

Jacobian         J

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📚 References

📖 Primary Literature

José M. Pardos-Gotor

Screw Theory in Robotics: An Illustrated and Practicable Introduction to Modern Mechanics

🔗 Software Reference

ST24R (STAR) MATLAB Toolbox

🤖 Robot Platform

Kinova Jaco2 7-DOF Manipulator

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🏗️ Relationship to ST24R

This package contains Python implementations derived from concepts and algorithms presented in the ST24R (STAR) MATLAB Screw Theory Toolbox, developed by Dr. José M. Pardos-Gotor.

The software architecture has been redesigned for Python while preserving the underlying mathematical formulations and educational philosophy of the original toolbox.

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📜 License

GNU Lesser General Public License v3.0 (LGPL-3.0)

See:

• LICENSE
• COPYING.LESSER

for complete licensing information.

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👤 Author

Vibhu Sharma

🎓 M.Tech (Gold Medalist) — Automation and Robotics

🔗 GitHub: https://github.com/VibhuSharma19

📧 Email: [e-mail]

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Geometry. Motion. Robotics.

Modern Screw Theory and Product of Exponentials tools for Python.