This repository contains Python code and utilities for advanced robotic manipulations using the principles of screw theory. It is designed to assist in the computational aspects of kinematics and dynamics in robotic systems, providing tools for forward kinematics, Jacobian computation, and inverse kinematics.
- Screw Theory Calculations: Functions to compute screw axes, transformations, and other key elements in screw theory.
- Forward Kinematics (FK): Implementation of the Product of Exponentials (PoE) method.
- Jacobian Computation: Tools for calculating both space and body Jacobians.
- Inverse Kinematics: Algorithms to solve for joint angles given end-effector positions and orientations.
To use this toolkit, clone the repository and install the required dependencies:
git clone https://github.com/WikiGenius/RoboticScrewTheoryToolkit.git
cd RoboticScrewTheoryToolkit
# Assuming you're using Poetry for dependency management
poetry installDetailed usage examples for each module are provided in the notebooks.
If you use this toolkit in your research, please cite it as follows:
Elyamani, M. (2024). Robotic Screw Theory Toolkit [Software]. GitHub. https://github.com/WikiGenius/RoboticScrewTheoryToolkit.git
Special thanks to Professor Daniel Martins for his valuable insights on screw theory and its applications in robotics. Additionally, heartfelt appreciation goes to Dr. Madi Babaiasl for his contributions and guidance in the field. Their expertise has been instrumental in the development of this toolkit.