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