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https://github.com/robincpc/robot_arm_kinematics_lib

A kinematic Library for 6-axis Articulated Robot Arm
https://github.com/robincpc/robot_arm_kinematics_lib

cpp kinematics robotics

Last synced: about 2 months ago
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A kinematic Library for 6-axis Articulated Robot Arm

Host: GitHub
URL: https://github.com/robincpc/robot_arm_kinematics_lib
Owner: RobinCPC
License: lgpl-3.0
Created: 2016-09-08T05:46:17.000Z (over 8 years ago)
Default Branch: master
Last Pushed: 2023-12-30T14:05:55.000Z (about 1 year ago)
Last Synced: 2024-05-22T00:06:58.945Z (9 months ago)
Topics: cpp, kinematics, robotics
Language: C++
Homepage: https://robincpc.github.io/Robot_Arm_Kinematics_Lib/
Size: 2.09 MB
Stars: 16
Watchers: 3
Forks: 11
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

        # Robot_Arm_Kinematics_Lib

[![Build Status](https://travis-ci.org/RobinCPC/Robot_Arm_Kinematics_Lib.svg?branch=master)](https://travis-ci.org/RobinCPC/Robot_Arm_Kinematics_Lib)

A kinematic Library for 6-axis Articulated Robot Arm

[Doxygen API Documentation](https://robincpc.github.io/Robot_Arm_Kinematics_Lib/)

Note: still WIP :construction:

Here is the online version ([link](https://robincpc.github.io/demo/)) of Demo GUI

![kinDemo_Im](./docs/images/kinDemo_Im.png)

## Basic Build Instructions

1. Clone this repo.

2. Make a build directory: `mkdir build && cd build`

3. Use CMake to generate Makefile: `cmake ..`

4. Compile a testing program: `make test_run`

5. Run it: `./test_run`

## Dependencies

* cmake >= 3.2

* make  >= 4.1

* gcc/g++ >= 5.4

* eigen >= 3

Optional for building document

* doxygen

* graphviz

## Reference

* Craig, John J. Introduction to robotics: mechanics and control. Vol. 3. Upper Saddle River: Pearson Prentice Hall, 2005.

* Corke, Peter. Robotics-Toolbox-Python [Official Link](https://github.com/petercorke/robotics-toolbox-python)

* Robotics Library [GitHub Page](https://github.com/roboticslibrary/rl)