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21 lines
995 B
Markdown
21 lines
995 B
Markdown
## Robot kinematics
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We provide examples on how to perform forward and inverse kinematics.
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Here are the forward kinematics (FK) examples that the user can try:
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1. `fk.py`: simple forward kinematics example where we directly sent desired joint positions to the Kuka
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manipulator.
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Here are the inverse kinematics (IK) examples that the user can try:
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1. `ik.py`: simple inverse kinematics example where the Kuka manipulator has to reach a certain target position
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in the world. In this example, the user can also choose the damped-least-squares IK solver.
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2. `ik_libraries.py`: comparison between different IK libraries including `pybullet`, `PyKDL`, `trac_ik`, and
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`rbdl` using the Kuka manipulator.
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3. `moving_sphere.py`: damped-least-squares IK with the Kuka manipulator where the goal is to follow a sphere
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that moves in a circular manner.
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References:
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- [1] "Robotics: Modelling, Planning and Control", Siciliano et al., 2010
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- [2] "Springer Handbook of Robotics", Siciliano et al., 2008
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