https://github.com/dtex/tharp

An inverse kinematics solver for robots, optimized for Johnny-Five.
https://github.com/dtex/tharp

Last synced: 3 months ago
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An inverse kinematics solver for robots, optimized for Johnny-Five.

• Host: GitHub
• URL: https://github.com/dtex/tharp
• Owner: dtex
• License: mit
• Created: 2015-05-30T02:55:16.000Z (over 9 years ago)
• Default Branch: master
• Last Pushed: 2015-12-07T04:27:41.000Z (about 9 years ago)
• Last Synced: 2024-04-29T16:08:41.829Z (9 months ago)
• Language: JavaScript
• Homepage:
• Size: 1.81 MB
• Stars: 27
• Watchers: 4
• Forks: 7
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# tharp

![Dancing Robots](https://raw.githubusercontent.com/dtex/tharp/master/assets/tharp-banner-color.png)

[![Join the chat at https://gitter.im/dtex/tharp](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/dtex/tharp?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

[![Build Status](https://travis-ci.org/dtex/tharp.svg)](https://travis-ci.org/dtex/tharp)

Tharp is an inverse kinematics solver and robot manager designed to work with Johnny-Five. It makes the hard things easy. Check out this [video](http://www.youtube.com/watch?v=gabm8QdO29Q) highlighting Tharp's  performance.

### Installation

````bash

npm install tharp

````

### Documentation

Tharp documentation can be found in the [wiki](https://github.com/dtex/tharp/wiki).

### Example

````js

// This is a simple excerpt, illustrating the configuration

// of robot with two legs

var five = require("johnny-five"),

  tharp = require("tharp");

var board = new five.Board().on("ready", function() {

  /* === Begin robot configuration === */

  // Tharp.Chain() wraps our actuators and adds properties

  // that define the kinematic system. The "chainType" property defines

  // the joint/link configuration.

  var leftLeg = new tharp.Chain({

    constructor: five.Servos,

    chainType: "ZYY",

    origin: [4.25, 0.15, 2.875],

    links: [ 2.6, 7.6125, 10.4],

    actuators: [

      {pin:40, offset: 24, startAt: 0, range: [0, 90] },

      {pin:39, offset: 87, startAt: 78, range: [-80, 78] },

      {pin:38, offset: 165, invert: true, startAt: -140, range: [-160, -10] }

    ]

  });

  var rightLeg = new tharp.Chain({

    constructor: five.Servos,

    chainType: "ZYY",

    origin: [-4.25, 0.15, 2.875],

    links: [ 2.6, 7.6125, 10.4],

    actuators: [

      {pin:27, offset: -31, startAt: 180, range: [90, 180] },

      {pin:26, offset: -77, startAt: 102, range: [110, 260] },

      {pin:25, offset: -176, invert: true, startAt: 320, range: [180, 340]}

    ]

  });

  // Robot() wraps our chains, gives us a place to orient the

  // robot chassis and ensures that all chains can be rendered

  // before rendering the entire robot movement

  var robot = new tharp.Robot({

    chains: [rightLeg, leftLeg]

  });

  /* === End robot configuration === */

  // Now we can orient the chassis

  robot.orientation({ pitch: 0.1, roll: -0.08, yaw: -0.13 });

  robot.offset([ 1, -1, -0.2 ]);

  // And position our end effectors

  rightLegChain.solve({position: [8.25, 2.5, -5.0]});

  leftLegChain.solve({position: [-8.25, -2.25, -5.0]});

  // Move everything

  robot.render();

});

````

### Breaking Changes

* 1.0.0 Swapped Y and Z axes to better match best practices. Renamed "CoxaY-FemurZ-TibiaZ" chain type to "ZYY".

* 2.0.0 Changes ```segments``` to an array since part names are arbitrary. One person's "coxa" is another person's "hip" and then another person's "shoulder".

* 3.0.0 Changes ```segments``` to ```links``` to reflect the proper name.