This file contains functions for calculation of robotics manipulator kinematics and mechanics. It is based on Denavit-Hartenberg notation. Functions perform symbolic output using sympy library. But it can also produce numerical outputs using "compute_num" function. List of functions:
- get_DH_table - Function returns Denavit-Hartenberg table
- get_tf_matrix - Returns transformation matrix between i and i-1 frames
- get_rotation_matrix - Returns rotation matrices between i and i-1 frames
- get_displacement_vector - Returns displacement vector between i and i-1 frames
- get_resulted_tf - Returns resulted transforamation matrix for end-effector
- get_ef_pos - Returns end-effector position
- get_res_rotation - Function returns resulted rotation matrix for specified DH-table
- get_angular_velocity - Function returns angular velocity for current frame relative to the world-wide frame
- cross - Function returns cross product for 3-row vectors
- get_linear_velocity - Function returns linear velocity for current frame relative to the world-wide frame
- get_ef_velocity - Function returns end effector velocity
- jacobian - Function returns jacobian between two given vectors
- calculate_static_force - Function returns a static force of the joint i
- calculate_static_torque - Function calculates torque for the required joint in a static mode
- compute_num - Function perform numerical computation
- get_angular_acceleration - Function returns angular acceleration for the current joint
- get_linear_acceleration - Function returns linear acceleration for the revolute joint
- get_lin_acc_of_mass_center - Function returns linear acceleration of the center of mass of the link
- calculate_dynamic_force - Function returns dynamic force in inward manner from last link to the base
- calculate_dynamic_moment - Function calculates moment for the required joint in a dynamic mode