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)
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Release files for robot6Ik 1.0.1
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Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| robot6ik-1.0.1.tar.gz | 418.8 kB | Details |
Built distribution (wheel)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| robot6Ik-1.0.1-py3-none-any.whl | Python 3 | none | any | Details |
Total release size: 839.2 kB
Release files / robot6ik-1.0.1.tar.gz
| Download URL | robot6ik-1.0.1.tar.gz |
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| Size | 418.8 kB |
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Release files / robot6Ik-1.0.1-py3-none-any.whl
| Download URL | robot6Ik-1.0.1-py3-none-any.whl |
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| Size | 420.3 kB |
| Tags | Python 3 |
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