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.

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.

• How TriP models Robots
  • Transformations
    • Transformation Descriptions
      • Translation with Euler Angles rotation
      • Translation with Quaternion rotation
    • Transformation trees
  • Kinematic Groups
    • divide a robot into groups
    • actuated state vs virtual state
    • Using closure equations
    • Defining virtual chains
  • Robots
    • End Effectors
    • Symbolic Representations
    • Forward kinematics
  • Solvers
    • SimpleInvKinSolver
• Getting Started
• Tutorials
  • Building a Robot Model
    • Building open chains
    • Create Mappings
    • Building the group
    • Combining groups to a robot
    • Building the complete robot
  • Importing URDF Files
• Code Documentation

Indices and tables

• Index

• Module Index

• Search Page