ikpy.link module

class ikpy.link.Link(name, bounds=(None, None))

Bases: object

Base Link class.

Parameters:

• name (string) – The name of the link
• bounds (tuple) – Optional : The bounds of the link. Defaults to None
• use_symbolic_matrix (bool) – wether the transformation matrix is stored as Numpy array or as a Sympy symbolic matrix.

get_transformation_matrix(theta)

class ikpy.link.URDFLink(name, translation_vector, orientation, rotation, bounds=(None, None), angle_representation='rpy', use_symbolic_matrix=False)

Bases: ikpy.link.Link

Link in URDF representation.

Parameters:

• name (string) – The name of the link
• bounds (tuple) – Optional : The bounds of the link. Defaults to None
• translation_vector (numpy.array) – The translation vector. (In URDF, attribute “xyz” of the “origin” element)
• orientation (numpy.array) – The orientation of the link. (In URDF, attribute “rpy” of the “origin” element)
• rotation (numpy.array) – The rotation axis of the link. (In URDF, attribute “xyz” of the “axis” element)
• angle_representation (string) – Optionnal : The representation used by the angle. Currently supported representations : rpy. Defaults to rpy, the URDF standard.
• use_symbolic_matrix (bool) – wether the transformation matrix is stored as a Numpy array or as a Sympy symbolic matrix.

Returns:

The link object

Return type:

URDFLink

Example:

URDFlink()

get_transformation_matrix(theta)

class ikpy.link.DHLink(name, d=0, a=0, bounds=None, use_symbolic_matrix=True)

Bases: ikpy.link.Link

Link in Denavit-Hartenberg representation.

Parameters:

• name (string) – The name of the link
• bounds (tuple) – Optional : The bounds of the link. Defaults to None
• d (float) – offset along previous z to the common normal
• a (float) – offset along previous to the common normal
• use_symbolic_matrix (bool) – wether the transformation matrix is stored as Numpy array or as a Sympy symbolic matrix.

Returns:

The link object

Return type:

DHLink

get_transformation_matrix(theta, a)

Computes the homogeneous transformation matrix for this link.

class ikpy.link.OriginLink

Bases: ikpy.link.Link

The link at the origin of the robot

get_transformation_matrix(theta)