pybotics.link module¶

Link module.

class pybotics.link.Link[source]¶

Bases: collections.abc.Sized

Links: connected joints allowing relative motion of neighboring link.

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

size¶: Get number of parameters.

to_json() → str[source]¶: Encode model as JSON.

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

vector¶

Return the vector representation of the link.

Returns:	vectorized kinematic chain

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

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.

to_json() → str¶: Encode model as JSON.

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

vector¶

Return the vector representation of the link.

Returns:	vectorized kinematic chain

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

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

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

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