Library for Kinematics of 6-axis Robot

whitegreen

I made KinematikJava, a lightweight library for 6-axis manipulator kinematics.

It includes:

1. Translations between three different representations of frame (coordinate system): XYZABC (coordinates and Euler angles), homogenous matrix, and axes (x-axis and a point on XY plane).

2. Frame attachment and inverse

3. Forward kinematics

4. Inverse kinematics

The library is valid for most industrial 6-axis robots. It is tested on Kuka. The Denavit–Hartenberg parameters, the convention of Euler angles, and the shifts on the joint angles may vary with robot manufacturers.

examples and downloads:

http://www.labaaa.org/kinematikjava

http://www.whitegreen.org/kinematikjava

GitHub

tlecoz

Hello !

It sounds very cool but the examples are not very helpfull for me. I know what kinematics is but I really don't know how to use your code for the moment.

Forward & inverse kinematics concerns motion and constraints, it's a bit weird to not provide a visual example of it.

Can you add one please :)

whitegreen

Hello tlecoz, I added a visual example to the examples folder:

http://www.labaaa.org/?attachment_id=778

or http://www.whitegreen.org/?attachment_id=147

It uses the data of Kuka arms from RoKiSim cheers!