using symbolic math package in Python - SymPy - to calculate forward and inverse kinematics with defined dh tables, see 1.1Kinematics_SymPy_DH.ipynb

• matlab code is also available in the repository, but requires symbolic math toolbox

• self-defined dual quaternion class to transfer dh table to dual quaternion and calculate forward and inverse kinematics, see 1.2Kinematics_Robot.ipynb

using example from this website.

• 2D serial robot with 2 links and 2 joints
• workspace visualization (serial #TODO)

• #TODO test quaternion and dual quaternion with serial robot
• inverse kinematics calculation #TODO
• forward kinematics calculation (serial #TODO)
• 3D serial robot with 3 links and 3 joints

• 2D Parrallel Robot
• workspace visualization ( parrallel #TODO)
• inverse kinematics calculation
• forward kinematics calculation ( parrallel#TODO)

using yourdfpy to load robot defined in URDF format.

• "data/urdf_files": contains urdf files for different robots. Source based on yourdfpy, draw robot in 2D/3D space with matplotlib

dual quaternion reference frame visualisation (#TODO) see implementations in 1.2Kinematics_Robot.ipynb

with traditional Kalman Filter and Unscented Kalman Filter (filterpy package)

• sigma points visualization {width=200 height=100}
• UKF estimation result (parameters sensitive)

• Pariticle initialization {width=100 height=100}
• Particle Filter estimation result (parameters sensitive)