A tiny inverse kinematics solver
Project description
Tinyik is a simple and naive inverse kinematics solver.
It defines an actuator as a set of links and revolute joints along x-axis from an origin. Here is an example of a robot arm that consists of two joints that rotate around z-axis and two links of 1.0 length:
>>> import tinyik
>>> arm = tinyik.Actuator('z', 1., 'z', 1.)
Since the joint angles are zero by default, the end-effector position is at (2.0, 0, 0).
>>> arm.angles
array([ 0., 0.])
>>> arm.ee
array([ 2., 0., 0.])
Sets the joint angles to 30 and 60 degrees to calculate a new position of the end-effector.
>>> import numpy as np
>>> arm.angles = [np.pi / 6, np.pi / 3] # or np.deg2rad([30, 60])
>>> arm.ee
array([ 0.8660254, 1.5 , 0. ])
Sets a position of the end-effector to calculate the joint angles.
>>> arm.ee = [2 / np.sqrt(2), 2 / np.sqrt(2), 0.]
>>> arm.angles
array([ 7.85398147e-01, 3.23715739e-08])
>>> np.round(np.rad2deg(arm.angles))
array([ 45., 0.])
Installation
$ pip install tinyik
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