Robotics Kinematics Tutorial with Jupyter Notebooks

This tutorial series introduces concepts in robotic kinematics using Jupyter notebooks and the Robotics Toolbox for Python.

Table of Contents

1. Detailed Exploration of Transformations in Robotics
2. Homogeneous Transformation
3. Drone Transformation Problem
4. Robotic Arm End-Effector Position Calculation
5. Forward Kinematics for a 3R Manipulator
6. Inverse Kinematics for a 3R Manipulator
7. Robotics Toolbox Teach Mode
8. Gimbal
9. Panda Robot
10. Exercise

Prerequisites

• Familiarity with Python programming.
• Basic understanding of matrices and linear algebra.
• Experience with Jupyter notebooks is beneficial but not essential.

Installation

1. Install Jupyter Notebook:

pip install jupyter

2. Install required Python libraries:

pip install roboticstoolbox-python spatialmath-python scipy numpy matplotlib

3. Clone this repository:

Contributing

Contributions are welcome! If you have suggestions or corrections, please open an issue or submit a pull request.

License

This project is licensed under the MIT License. See the LICENSE file for details.

Acknowledgements

• Robotics Toolbox for Python by Peter Corke

Material

• https://petercorke.com/download/31/python-tools/1349/python_toolbox_icra_2021.pdf
• https://petercorke.com/
• https://github.com/petercorke/robotics-toolbox-python/tree/master/roboticstoolbox/examples
• https://github.com/petercorke/robotics-toolbox-python/tree/master/notebooks