Comments (1)
R1: By default is "Khalil" order Lxx Lxy Lxz Lyy Lyz Lzz lx ly lz m
and it is represented around the DH reference frame: i.e., elements of inertia tensor around DH reference frame, first moment of inertia (m*r
) and mass.
It can also work with "Siciliano" order: https://github.com/cdsousa/SymPyBotics/blob/master/sympybotics/robotdef.py#L291
R2: This was designed for serial robots only. It is used to produce customized and optimized symbolic expressions and code for a given robot, i.e. for ficed dof and fixed DH parameters. But if you mean code that will work for all robots, with symbolic DH, then it doesn't make sense to have it in symbolic form as it will be intractable. Better use the generic recursive code in that case.
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Related Issues (20)
- Parameter definition HOT 1
- Error with rbt = sympybotics.RobotDynCode(rbtdef, verbose=True) HOT 12
- How are these matrices T_pcorke, J_pcorke, tau_pcorke obtained? HOT 2
- Negative Torque HOT 1
- NameError: name 'L1' is not defined HOT 3
- How to get the regression matrix of 4 parameters? HOT 2
- > Hi,I solve it
- AttributeError: module 'sympy' has no attribute 'iterables' HOT 7
- Has anyone verified that this algorithm is correct? HOT 6
- function rne_park_forward issue HOT 1
- Regression matrix related to base parameter HOT 1
- Excitation trajectory HOT 1
- symbolic base inertial parameter HOT 1
- Is it possible to generate forward dynamics code? HOT 2
- Is this toolbox suitable for robots with prismatic joints? HOT 1
- what is the "params" in the function? HOT 3
- how to translate the ''min param group" to M, C,G
- Is it possible to construct the dynamics of robot with compliance actuator? HOT 1
- Closed Chain Kinematics
- Is this package suitable for robotic arms containing translational joints? HOT 1
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