pybotics.link module¶
Link module.
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class
pybotics.link.
Link
[source]¶ Bases:
collections.abc.Sized
Links: connected joints allowing relative motion of neighboring link.
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displace
(q: float) → numpy.ndarray[Any, numpy.dtype[numpy.float64]][source]¶ Generate a vector of the new link state given a displacement.
Parameters: q – given displacement :return vector of new displacement state
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size
¶ Get number of parameters.
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transform
(q: float = 0) → numpy.ndarray[Any, numpy.dtype[numpy.float64]][source]¶ Generate a 4x4 transform matrix given a displacement.
Parameters: q – given displacement :return vector of new displacement state
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vector
¶ Return the vector representation of the link.
Returns: vectorized kinematic chain
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class
pybotics.link.
MDHLink
(alpha: float = 0, a: float = 0, theta: float = 0, d: float = 0)[source]¶ Bases:
pybotics.link.Link
Link class that uses Modified DH parameters.
https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters
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displace
(q: float) → numpy.ndarray[Any, numpy.dtype[numpy.float64]]¶ Generate a vector of the new link state given a displacement.
Parameters: q – given displacement :return vector of new displacement state
-
size
¶ Get number of parameters.
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to_json
() → str¶ Encode model as JSON.
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transform
(q: float = 0) → numpy.ndarray[Any, numpy.dtype[numpy.float64]][source]¶ Generate a 4x4 transform matrix with a displacement.
Parameters: q – given displacement :return vector of new displacement state
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vector
¶ Return the vector representation of the link.
Returns: vectorized kinematic chain
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class
pybotics.link.
PrismaticMDHLink
(alpha: float = 0, a: float = 0, theta: float = 0, d: float = 0)[source]¶ Bases:
pybotics.link.MDHLink
Link class that uses Modified DH parameters for a revolute joint.
https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters
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displace
(q: float = 0) → numpy.ndarray[Any, numpy.dtype[numpy.float64]][source]¶ Generate a vector of the new link state given a displacement.
Parameters: q – given displacement :return vector of new displacement state
-
size
¶ Get number of parameters.
-
to_json
() → str¶ Encode model as JSON.
-
transform
(q: float = 0) → numpy.ndarray[Any, numpy.dtype[numpy.float64]]¶ Generate a 4x4 transform matrix with a displacement.
Parameters: q – given displacement :return vector of new displacement state
-
vector
¶ Return the vector representation of the link.
Returns: vectorized kinematic chain
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class
pybotics.link.
RevoluteMDHLink
(alpha: float = 0, a: float = 0, theta: float = 0, d: float = 0)[source]¶ Bases:
pybotics.link.MDHLink
Link class that uses Modified DH parameters for a revolute joint.
https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters
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displace
(q: float = 0) → numpy.ndarray[Any, numpy.dtype[numpy.float64]][source]¶ Generate a vector of the new link state given a displacement.
Parameters: q – given displacement :return vector of new displacement state
-
size
¶ Get number of parameters.
-
to_json
() → str¶ Encode model as JSON.
-
transform
(q: float = 0) → numpy.ndarray[Any, numpy.dtype[numpy.float64]]¶ Generate a 4x4 transform matrix with a displacement.
Parameters: q – given displacement :return vector of new displacement state
-
vector
¶ Return the vector representation of the link.
Returns: vectorized kinematic chain
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