pybotics 0.3.0

Python Toolbox for Robotics

|PyPI Version| |GitHub tag| |DOI| |PyPI License|

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|Issue Count|

pybotics |image21|
==================

Python Toolbox for Robotics

Usage
-----

Installation
~~~~~~~~~~~~

::

pip install pybotics

Quick Start
~~~~~~~~~~~

.. code:: python

import numpy as np
import pybotics as pybot

# classic planar robot from textbooks
robot_model = np.array([
[0, 0, 0, 0],
[0, 10, 0, 0],
[0, 20, 0, 0]
], dtype=np.float)
planar_robot = pybot.Robot(robot_model)
planar_robot.joint_angles = np.deg2rad([30, 60, 0])
pose = planar_robot.fk() # forward kinematics, returns 4x4 pose transform

# modern, collaborative, 6-axis robot (UR10 from Universal Robots)
robot_model = np.loadtxt('ur10-mdh.csv', delimiter=',')
ur10_robot = pybot.Robot(robot_model)
ur10_robot.random_joints()
pose = ur10_robot.fk() # forward kinematics, returns 4x4 pose transform

Applications
~~~~~~~~~~~~

- `Kinematics <https://github.com/nnadeau/pybotics/blob/master/examples/example_kinematics.ipynb>`__
- `Calibration <https://github.com/nnadeau/pybotics/blob/master/examples/example_calibration.ipynb>`__
- Trajectory and path planning

References
----------

- Craig, John J. Introduction to robotics: mechanics and control. Vol.
3. Upper Saddle River: Pearson Prentice Hall, 2005.
- Corke, Peter. Robotics, vision and control: fundamental algorithms in
MATLAB. Vol. 73. Springer, 2011.

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