This project encompasses a Python-based framework designed to simulate the dynamics and kinematics of robotic arms. With this framework, you can explore the behavior of robotic arms in various scenarios, aiding in analysis and development. Dive in and simulate your robotic systems!
- Forward dynamics calculations using Lagrangian mechanics approach.
- Inverse kinematics solver for determining joint configurations.
- Singularity detection to identify critical arm configurations.
- Physics simulation engine for modeling object interactions in 3D space.
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Clone the repository:
git clone https://github.com/SteveProkovas/Robotic_Arm_Simulation.git cd robotic-simulation -
Install dependencies (NumPy and SymPy):
pip install numpy sympy
from dynamics import DynamicsSolver
# Example usage
solver = DynamicsSolver(arm_geometry)
# Perform forward dynamics calculations
joint_torques = solver.forward_dynamics(joint_angles, joint_velocities, joint_accelerations, external_forces)from kinematics import KinematicsSolver
# Example usage
solver = KinematicsSolver(arm_geometry)
# Perform inverse kinematics calculations
solution = solver.inverse_kinematics_solver(desired_position)Contributions are welcomed! Whether it's fixing bugs, adding features, or enhancing documentation, your contributions make this project better for everyone. Feel free to open issues or pull requests.
This project is licensed under the Apache License 2.0. See the LICENSE file for details.
Git is used for version control. Remember to follow Git best practices and commit your changes frequently.
Unit tests are included in the tests/ directory. Run the tests using:
pytestDebugging can be achieved using print statements or debuggers like pdb. Additionally, logging can be enabled to track the behavior of the simulation.
Explore documentation in the docs/ directory. It provides insights into classes, methods, parameters, and usage examples.