https://github.com/japersik/ur_kinematics
Solution of forward and inverse kinematics problems for Universal Robots
https://github.com/japersik/ur_kinematics
forward-kinematics inverse-kinematics universal-robots
Last synced: 6 months ago
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Solution of forward and inverse kinematics problems for Universal Robots
- Host: GitHub
- URL: https://github.com/japersik/ur_kinematics
- Owner: japersik
- Created: 2021-10-08T15:58:04.000Z (almost 4 years ago)
- Default Branch: master
- Last Pushed: 2021-10-08T16:40:20.000Z (almost 4 years ago)
- Last Synced: 2024-11-22T20:37:56.873Z (11 months ago)
- Topics: forward-kinematics, inverse-kinematics, universal-robots
- Language: Python
- Homepage:
- Size: 24.4 KB
- Stars: 6
- Watchers: 1
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# UR_kinematics
## Solution of forward and inverse kinematics problems for Universal Robots
## Example of execution:
### Forward kinematics
```
Code:
ed = np.matrix([[1.572584629058838], [-1.566467599277832], [-0.0026149749755859375], [-1.568673924808838],
[-0.009446446095601857], [0.007950782775878906]])
transform = forward_kinematic_solution(DH_matrix_UR5e, ed)
print(transform)
Out:
[[-7.65789463e-03 5.40271395e-05 9.99970676e-01 2.32902042e-01]
[-9.99901213e-01 1.17864251e-02 -7.65799947e-03 -3.41865209e-03]
[-1.17864932e-02 -9.99930536e-01 -3.62373991e-05 1.07939110e+00]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]]
```
### Inverse kinematics
```
Code:
transform = np.matrix([[-7.65789463e-03 5.40271395e-05 9.99970676e-01 2.32902042e-01]
[-9.99901213e-01 1.17864251e-02 -7.65799947e-03 -3.41865209e-03]
[-1.17864932e-02 -9.99930536e-01 -3.62373991e-05 1.07939110e+00]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]])
IKS = inverse_kinematic_solution(DH_matrix_UR5e, transform)
print(IKS) # all solutions
print(IKS[:, 1]) # first solution
Out:
[[ 1.57258463e+00 1.57258463e+00 1.57258463e+00 1.57258463e+00 1.52916609e+00 1.52916609e+00 1.52916609e+00 1.52916609e+00]
[-1.56757306e+00 -1.56757306e+00 -1.57005021e+00 -1.57005021e+00 -1.57524796e+00 -1.57316784e+00 -1.56313367e+00 -1.56313367e+00]
[ 0.00000000e+00 0.00000000e+00 0.00000000e+00 0.00000000e+00 2.16710481e-03 -2.16710481e-03 0.00000000e+00 0.00000000e+00]
[ 1.57140922e+00 1.57140922e+00 1.57388636e+00 1.57388636e+00 -1.56957868e+00 -1.56732459e+00 -1.57952587e+00 -1.57952587e+00]
[ 9.44644610e-03 9.44644610e-03 -9.44644610e-03 -9.44644610e-03 3.39721849e-02 3.39721849e-02 -3.39721849e-02 -3.39721849e-02]
[-3.13364187e+00 -3.13364187e+00 -3.13364187e+00 -3.13364187e+00 1.28530345e-02 1.28530345e-02 1.28530345e-02 1.28530345e-02]]
[[ 1.57258463]
[-1.56757306]
[ 0. ]
[ 1.57140922]
[ 0.00944645]
[-3.13364187]]
```