Skip to content

Python package for inverse kinematic calculations of hybrid serial parallel robots

License

Notifications You must be signed in to change notification settings

TriPed-Robot/trip_kinematics

Repository files navigation

trip_logo

Code Grade codecov Documentation Status example workflow DOI

TriP

TriP is a python library designed to calculate the forward- and inverse-kinematics of rigid mechanisms.

This includes open chains, closed chains, and even combinations of both.

Features

  • Model any robot (including closed and hybrid chains)
  • Generate symbolic representations of forward kinematics
  • Compute Jacobian matrices for differential kinematics
  • Compute the inverse kinematics of arbitrary rigid mechanisms
  • Compute the Inverse Kinematics in position and/or orientation
  • Support arbitrary joint types and quaternions
  • Includes several ready to use examples (TriPed robot, Excavator Arm)
  • TriPs validates the inverse kinematics algorithms with extensive testing using analytic solutions.

Installation

Installing the latest release (recommended):

pip install trip-kinematics

Installing the newest version from source:

git clone https://github.com/TriPed-Robot/trip_kinematics
cd trip_kinematics
pip install src/

Documentation

The documentation can be found here

How to cite this library

If you find this work useful please give credits to the authors by citing:

  • Baumgärtner et al., (2022). TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots. Journal of Open Source Software, 7(71), 3967, https://doi.org/10.21105/joss.03967
@article{Baumgärtner2022,
  doi = {10.21105/joss.03967},
  url = {https://doi.org/10.21105/joss.03967},
  year = {2022},
  publisher = {The Open Journal},
  volume = {7},
  number = {71},
  pages = {3967},
  author = {Jan Baumgärtner and Torben Miller},
  title = {TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots},
  journal = {Journal of Open Source Software}
}