`ikpy.link` module¶

This module implements the Link class.

class ikpy.link.Link(name, length, bounds=None, is_final=False)[source]¶

Bases: object

Base Link class.

Parameters:	name (string) – The name of the link bounds (tuple) – Optional : The bounds of the link. Defaults to None

has_rotation¶

Whether the link provides a rotation

Type:	bool

length¶

Length of the link

Type:	float

get_rotation_axis()[source]¶

Returns:	coordinates of the rotation axis in the frame of the joint
Return type:	coords

get_link_frame_matrix(actuator_parameters: dict)[source]¶

Return the frame matrix corresponding to the link, parameterized with theta

Parameters:	actuator_parameters (dict) – Values for the actuator movements

Note

Theta works for rotations, and for other one-dimensional actuators (ex: prismatic joints), even if the name can be misleading

class ikpy.link.URDFLink(name: str, origin_translation: <MagicMock id='140353834247952'>, origin_orientation: <MagicMock id='140353834401232'>, rotation: Optional[<MagicMock id='140353834443088'>] = None, translation: Optional[<MagicMock id='140353834444368'>] = None, bounds=None, angle_representation='rpy', use_symbolic_matrix=True, joint_type: str = 'revolute')[source]¶

Bases: ikpy.link.Link

Link in URDF representation.

Parameters:	name (str) – The name of the link bounds (tuple) – Optional : The bounds of the link. Defaults to None origin_translation (numpy.array) – The translation vector. (In URDF, attribute “xyz” of the “origin” element) origin_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 (str) – Optional : The representation used by the angle. Currently supported representations : rpy. Defaults to rpy, the URDF standard. use_symbolic_matrix (bool) – whether the transformation matrix is stored as a Numpy array or as a Sympy symbolic matrix. joint_type (str) – The URDF “type” attribute of the joint. Only support for revolute and prismatic joint for the moment
Returns:	The link object
Return type:	URDFLink

Example

URDFlink()

get_rotation_axis()[source]¶

Returns:	coordinates of the rotation axis in the frame of the joint
Return type:	coords

get_translation_axis()[source]¶

get_link_frame_matrix(parameters)[source]¶

Return the frame matrix corresponding to the link, parameterized with theta

Parameters:	actuator_parameters (dict) – Values for the actuator movements

Note

Theta works for rotations, and for other one-dimensional actuators (ex: prismatic joints), even if the name can be misleading

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

Bases: ikpy.link.Link

Link in Denavit-Hartenberg representation.

Parameters:	name (str) – 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) – whether the transformation matrix is stored as Numpy array or as a Sympy symbolic matrix.
Returns:	The link object
Return type:	DHLink

get_link_frame_matrix(parameters)[source]¶: Computes the homogeneous transformation matrix for this link.

class ikpy.link.OriginLink[source]¶

Bases: ikpy.link.Link

The link at the origin of the robot

get_rotation_axis()[source]¶

Returns:	coordinates of the rotation axis in the frame of the joint
Return type:	coords

get_link_frame_matrix(theta)[source]¶

Return the frame matrix corresponding to the link, parameterized with theta

Parameters:	actuator_parameters (dict) – Values for the actuator movements

Note

Theta works for rotations, and for other one-dimensional actuators (ex: prismatic joints), even if the name can be misleading

ikpy.link module¶

`ikpy.link` module¶