https://github.com/auralius/libkine

A serial robot kinematics library
https://github.com/auralius/libkine

denavit-hartenberg kinematics robot

Last synced: 8 months ago
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A serial robot kinematics library

• Host: GitHub
• URL: https://github.com/auralius/libkine
• Owner: auralius
• Created: 2015-11-08T14:09:07.000Z (over 10 years ago)
• Default Branch: master
• Last Pushed: 2017-04-22T13:19:37.000Z (about 9 years ago)
• Last Synced: 2025-02-01T10:27:20.779Z (over 1 year ago)
• Topics: denavit-hartenberg, kinematics, robot
• Language: C++
• Homepage: https://github.com/auralius/libkine/wiki
• Size: 624 KB
• Stars: 2
• Watchers: 1
• Forks: 0
• Open Issues: 5
• Metadata Files:
  • Readme: README.md

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README

          
libkine

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A serial robot kinematics library.

Feature:

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 * [x] DH Paramters

 * [x] Homogenous transformation matrix

 * [ ] Screw theory

 * [ ] Rigid body velocity / Jacobian

 * [x] 3D Visualization with using STL file

Dependencies:

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1. VTK for visualization

2. Armadillo for matrix calculation

3. FLTK for the joint sider interface

How to Install:

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1. Make sure you have git-lfs installed

2. Clone the repository:  git clone git@github.com:auralius/libkine.git 

3. Go to the directory of the cloned project, use git-lfs to get the binaries and the robot 3D models: git lfs checkout

4. Build the source using CMake

5. Create directory: mkdir build

6. Go inside build, type: cmake ..

7. Type: make

8. Run: ./demo1 or ./demo2 ../model/puma/puma.csv ../model/puma/puma.csv

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Binaries and robot 3D models are stored with git-lfs (https://git-lfs.github.com).