pyrobolearn/examples/kinematics

Robot kinematics

We provide examples on how to perform forward and inverse kinematics.

Here are the forward kinematics (FK) examples that the user can try:

1. fk.py: simple forward kinematics example where we directly sent desired joint positions to the Kuka manipulator.

Here are the inverse kinematics (IK) examples that the user can try:

1. ik.py: simple inverse kinematics example where the Kuka manipulator has to reach a certain target position in the world. In this example, the user can also choose the damped-least-squares IK solver.
2. ik_libraries.py: comparison between different IK libraries including pybullet, PyKDL, trac_ik, and rbdl using the Kuka manipulator.
3. moving_sphere.py: damped-least-squares IK with the Kuka manipulator where the goal is to follow a sphere that moves in a circular manner.

References:

• [1] "Robotics: Modelling, Planning and Control", Siciliano et al., 2010
• [2] "Springer Handbook of Robotics", Siciliano et al., 2008