Visual Kinematics

This project concentrates on an python-based robotics toolbox for kinematics calculation, robot pose visualization and robot path planning.

Requirements

easy to use, only need DH parameters as input (so numerical inverse required).
support both classic and modified DH parameters
support robot with different degrees of freedom
support different representations for rotaion (euler angles, angle axis, quaternion, etc.)
support high performance analytical inverse (has to be user defined)
visualizing robot pose and trajectory (a slider for simulating the trajectory)
support path interpolation in joint space and cartesian space (p2p and linear)

Some Results

Trajectory:

Linear motion with analytical inverse:

7-axis: