Welcome to TriP’s documentation!
Have you ever worked with a robot with hydraulic actuators? Or ever have to compensate bad motors by having them moving the joint via a complicated linkage?
Then you have worked with a hybrid kinematic chain.
TriP is a python library designed to calculate the forward- and inverse-kinematics of such chains. Since hybrid chains are the most general type of rigid mechanism this includes almost all robots.
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.
- How TriP models Robots
- Kinematic Groups
- Getting Started
- Code Documentation