robotics_toolbox.robots.planar_manipulator.PlanarManipulator

class robotics_toolbox.robots.planar_manipulator.PlanarManipulator(link_parameters=None, structure=None, base_pose=None, gripper_length=0.2)

Bases: RobotBase

Parameters:

  • link_parameters (ArrayLike | None)

  • structure (list[str] | str | None)

  • base_pose (SE2 | None)

  • gripper_length (float)

__init__(link_parameters=None, structure=None, base_pose=None, gripper_length=0.2)

Creates a planar manipulator composed by rotational and prismatic joints.

The manipulator kinematics is defined by following kinematics chain:

T_flange = (T_base) T(q_0) T(q_1) … T_n(q_n),

where

T_i describes the pose of the next link w.r.t. the previous link computed as: T_i = R(q_i) Tx(l_i) if joint is revolute, T_i = R(l_i) Tx(q_i) if joint is prismatic,

with

l_i is taken from @param link_parameters; type of joint is defined by the @param structure.

Parameters:

  • link_parameters (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] | None) – either the lengths of links attached to revolute joints in [m] or initial rotation of prismatic joint [rad].

  • structure (list[str] | str | None) – sequence of joint types, either R or P, [R]*n by default

  • base_pose (SE2 | None) – mounting of the robot, identity by default

  • gripper_length (float) – length of the gripper measured from the flange

Return type:

None

Methods

__init__([link_parameters, structure, ...])

Creates a planar manipulator composed by rotational and prismatic joints.

configuration()

Get the robot configuration.

fk_all_links()

Compute FK for frames that are attached to the links of the robot.

flange_pose()

Return the pose of the flange in the reference frame.

ik_analytical(flange_pose_desired)

Compute IK analytically, return all solutions for joint limits being from -pi to pi for revolute joints -inf to inf for prismatic joints.

ik_numerical(flange_pose_desired[, ...])

Compute IK numerically.

in_collision()

Check if robot in its current pose is in collision.

jacobian()

Computes jacobian of the manipulator for the given structure and configuration.

jacobian_finite_difference([delta])

sample_configuration()

Sample robot configuration inside the configuration space.

set_configuration(configuration)

Set configuration of the robot, return self for chaining.

Attributes

dof

Return number of degrees of freedom.
configuration()

Get the robot configuration.

Return type:

ndarray | SE2 | SE3

property dof

Return number of degrees of freedom.

Compute FK for frames that are attached to the links of the robot. The first frame is base_frame, the next frames are described in the constructor.

Return type:

list[SE2]

flange_pose()

Return the pose of the flange in the reference frame.

Return type:

SE2

ik_analytical(flange_pose_desired)

Compute IK analytically, return all solutions for joint limits being from -pi to pi for revolute joints -inf to inf for prismatic joints.

Parameters:

flange_pose_desired (SE2)

Return type:

list[ndarray]

ik_numerical(flange_pose_desired, max_iterations=1000, acceptable_err=0.0001)

Compute IK numerically. Value self.q is used as an initial guess and updated to solution of IK. Returns True if converged, False otherwise.

Parameters:

flange_pose_desired (SE2)

Return type:

bool

in_collision()

Check if robot in its current pose is in collision.

Return type:

bool

jacobian()

Computes jacobian of the manipulator for the given structure and configuration.

Return type:

ndarray

sample_configuration()

Sample robot configuration inside the configuration space. Will change internal state.

set_configuration(configuration)

Set configuration of the robot, return self for chaining.

Parameters:

configuration (ndarray | SE2 | SE3)