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TriP

TriP is a python library designed to calculate the forward- and inverse-kinematics of rigid mechanisms.

This includes open chains, closed chains, and even combinations of both.

Features

• Model any robot (including closed and hybrid chains)
• Generate symbolic representations of forward kinematics
• Compute Jacobian matrices for differential kinematics
• Compute the inverse kinematics of arbitrary rigid mechanisms
• Compute the Inverse Kinematics in position and/or orientation
• Support arbitrary joint types and quaternions
• Includes several ready to use examples (TriPed robot, Excavator Arm)
• TriPs validates the inverse kinematics algorithms with extensive testing using analytic solutions.

Installation

Installing the latest release (recommended):

pip install trip-kinematics

Installing the newest version from source:

git clone https://github.com/TriPed-Robot/trip_kinematics
cd trip_kinematics
pip install src/

Documentation

The documentation can be found here

How to cite this library

If you find this work useful please give credits to the authors by citing:

• Baumgärtner et al., (2022). TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots. Journal of Open Source Software, 7(71), 3967, https://doi.org/10.21105/joss.03967

@article{Baumgärtner2022,
  doi = {10.21105/joss.03967},
  url = {https://doi.org/10.21105/joss.03967},
  year = {2022},
  publisher = {The Open Journal},
  volume = {7},
  number = {71},
  pages = {3967},
  author = {Jan Baumgärtner and Torben Miller},
  title = {TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots},
  journal = {Journal of Open Source Software}
}