ub-clean-test 0.10.2

机器人控制框架

# ub-clean-test

[中文版](#chinese) | [English](#english)

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## <a id="chinese"></a>中文版

一个模块化的机器人控制框架。

### 功能
- **基础控制**：PID、LQR、自适应控制
- **运动学**：逆运动学（速度级、位置级）
- **轨迹规划**：五次多项式平滑运动
- **路径规划**：RRT 快速扩展随机树
- **强化学习**：PPO 近端策略优化

### 安装

pip install ub-clean-test

### 快速开始
```python
from ultra_balance import create_robot
robot = create_robot('two_wheel')
robot.start()

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English Version

A modular robot control framework.

Features

· Control: PID, LQR, adaptive control · Kinematics: Forward/Inverse kinematics · Trajectory Planning: Quintic polynomial · Path Planning: RRT (Rapidly-exploring Random Tree) · Reinforcement Learning: PPO (Proximal Policy Optimization)

Installation

pip install ub-clean-test

Quick Start

from ultra_balance import create_robot
robot = create_robot('two_wheel')
robot.start()

Modules

· core/: Core algorithms (Kalman filter, PID, etc.) · planning/: Path planning (A*, RRT) · learning/: Reinforcement learning (PPO)

Examples

· demo_trajectory.py: Trajectory planning demo · demo_rrt.py: RRT path planning demo · demo_ppo.py: PPO reinforcement learning demo