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https://github.com/TriPed-Robot/trip_kinematics

Python package for inverse kinematic calculations of hybrid serial parallel robots
https://github.com/TriPed-Robot/trip_kinematics

closed-chain hybrid-chain inverse-kinematics kinematic-modeling kinematics manipulator parallel-robot python robotics serial-robotics trajectory-planning

Last synced: about 1 month ago
JSON representation

Python package for inverse kinematic calculations of hybrid serial parallel robots

Host: GitHub
URL: https://github.com/TriPed-Robot/trip_kinematics
Owner: TriPed-Robot
License: mit
Created: 2021-03-23T12:46:10.000Z (over 3 years ago)
Default Branch: main
Last Pushed: 2022-05-06T14:47:10.000Z (over 2 years ago)
Last Synced: 2024-06-20T05:49:09.526Z (6 months ago)
Topics: closed-chain, hybrid-chain, inverse-kinematics, kinematic-modeling, kinematics, manipulator, parallel-robot, python, robotics, serial-robotics, trajectory-planning
Language: Python
Homepage: https://trip-kinematics.readthedocs.io/en/main/
Size: 19.8 MB
Stars: 28
Watchers: 3
Forks: 4
Open Issues: 21
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Code of conduct: CODE_OF_CONDUCT.md

Awesome Lists containing this project

awesome-robotic-tooling - TriP - A Inverse Kinematics library for serial robots, parallel robots and hybrids of both. (Sensor Processing / Calibration and Transformation)

README

        ![trip_logo](docs/source/trip_logo.svg)

[![Code Grade](https://api.codiga.io/project/29339/score/svg)](https://frontend.code-inspector.com/project/29339/dashboard) 

[![codecov](https://codecov.io/gh/TriPed-Robot/TriP/branch/main/graph/badge.svg?token=T6TMY8CD8M)](https://codecov.io/gh/TriPed-Robot/TriP)

[![Documentation Status](https://readthedocs.org/projects/trip-kinematics/badge/?version=main)](https://trip-kinematics.readthedocs.io/en/main/?badge=main)

![example workflow](https://github.com/TriPed-Robot/TriP/actions/workflows/python-package.yml//badge.svg)

[![DOI](https://joss.theoj.org/papers/10.21105/joss.03967/status.svg)](https://doi.org/10.21105/joss.03967)

# 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](https://trip-kinematics.readthedocs.io/en/main/)

## 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}

}

```