pybotics 0.3.2

Python Toolbox for Robotics

Python Toolbox for Robotics

Usage

Installation

pip install pybotics

Quick Start

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

• Calibration

• Trajectory and path planning

Development

• All branches are deployed to PyPI’s Test Site

• Only tags on the master branch are deployed to PyPI

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.