TriP is a python library designed to calculate the forward- and inverse-kinematics of rigid mechanisms.
This includes open chains, closed chains, and even combinations of both.
- Model any robot (including closed and hybrid chains)
- Generate symbolic representations of forward kinematics
- Compute Jacobian matrices for differential kinematics
- Compute the inverse kinematics of arbitrary rigid mechanisms
- Compute the Inverse Kinematics in position and/or orientation
- Support arbitrary joint types and quaternions
- Includes several ready to use examples (TriPed robot, Excavator Arm)
- TriPs validates the inverse kinematics algorithms with extensive testing using analytic solutions.
Installing the latest release (recommended):
pip install trip-kinematics
Installing the newest version from source:
git clone https://github.com/TriPed-Robot/trip_kinematics
cd trip_kinematics
pip install src/
The documentation can be found here
If you find this work useful please give credits to the authors by citing:
- Baumgärtner et al., (2022). TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots. Journal of Open Source Software, 7(71), 3967, https://doi.org/10.21105/joss.03967
@article{Baumgärtner2022,
doi = {10.21105/joss.03967},
url = {https://doi.org/10.21105/joss.03967},
year = {2022},
publisher = {The Open Journal},
volume = {7},
number = {71},
pages = {3967},
author = {Jan Baumgärtner and Torben Miller},
title = {TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots},
journal = {Journal of Open Source Software}
}