Materials for the course "Introduction to Robotics" at the University of Bordeaux, France

We will give you code to create symbolic transformation matrices. You will need sympy that you can install using:

pip install sympy --user

The code can be used by creating scripts such as:

import sympy
import matrices

theta = sympy.Symbol("theta")
rx  = matrices.TRotX(theta).m
r_x = matrices.TRotX(-theta).m

print(rx*r_x)
print(sympy.trigsimp(rx*r_x) == sympy.Matrix.eye(4))

For the forward model, you should produce a function:

def f_kin(theta_0, theta_1, theta_2):
    ...
    return (x_tip, y_tip, z_tip)