ub-clean-test 0.8.1

机器人控制框架

ub-clean-test

中文版 | English

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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

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