Collections of Robotics projects. The notebooks covers from kinematics of simple manipulators, to control simulations using Python.
Scara is a robotic manipulator with 2 degrees of freedom (DoF) commonly used for pick and place tasks.
Anthropomorphic robots are inspired in humam arms and can serve multiple purpose tasks. The version studied here has 3 DoF.
- Sympy (Kinematics e Dynamics)
- Matplolib (Visualization)
- Scipy (Dynamics Equations Solver)
- Dill (Save / Load Previous Results)
Kinematics studies the relationship between the joints angles and how the produce desire movement on multiple degree of freedom linkages. This folder contains a collection of notebooks and scripts explaining how to use Sympy to solve kinematics of 2 robots: Scara and Anthropomorphic Arm.
These Notebooks explain how to develop movement equations from robotics arm, using Lagrange's method from Sympy - Physics Module.
Here the models is simulated using matplotlib
animations. Additionally, the resulting dynamics equations are reused using pickle
.
Given previous results, it is now implemented linearization by state feedback. The results are animated and visualized using Matplotlib.
- Linearization by State Feedback