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‎docs/basics.ipynb‎

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{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 1,
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"metadata": {},
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"outputs": [
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{
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"ename": "ModuleNotFoundError",
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"evalue": "No module named 'mdh.models'",
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"output_type": "error",
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"traceback": [
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"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
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"\u001b[0;31mModuleNotFoundError\u001b[0m Traceback (most recent call last)",
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"\u001b[0;32m<ipython-input-1-016134810506>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m 5\u001b[0m \u001b[0;32mfrom\u001b[0m \u001b[0mmdh\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mlink\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mmdh_params\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mJointType\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 6\u001b[0m \u001b[0;32mfrom\u001b[0m \u001b[0mmdh\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mkinematic_chain\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mKinematicChain\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 7\u001b[0;31m \u001b[0;32mfrom\u001b[0m \u001b[0mmdh\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmodels\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mpuma500\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 8\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 9\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mpandas\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
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"\u001b[0;31mModuleNotFoundError\u001b[0m: No module named 'mdh.models'"
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]
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}
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],
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"source": [
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"import numpy as np\n",
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"np.set_printoptions(suppress=True)\n",
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"\n",
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"import mdh\n",
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"from mdh.link import mdh_params, JointType\n",
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"from mdh.kinematic_chain import KinematicChain\n",
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"from mdh.models import puma500\n",
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"\n",
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"import pandas\n",
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"\n",
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"print(mdh.__version__)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"metadata": {},
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"outputs": [
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{
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"ename": "AttributeError",
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"evalue": "module 'mdh' has no attribute 'models'",
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"output_type": "error",
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"traceback": [
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"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
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"\u001b[0;31mAttributeError\u001b[0m Traceback (most recent call last)",
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"\u001b[0;32m<ipython-input-2-ff10bdcf3762>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mparams\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mmdh\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmodels\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mpuma500\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 2\u001b[0m \u001b[0mdf\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mpandas\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mDataFrame\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mparams\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
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"\u001b[0;31mAttributeError\u001b[0m: module 'mdh' has no attribute 'models'"
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]
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}
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],
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"source": [
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"params = mdh.models.puma500()\n",
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"df = pandas.DataFrame(params)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 4,
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"metadata": {},
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"outputs": [
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{
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"data": {
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"text/plain": [
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"'0.1.2'"
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]
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},
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"execution_count": 4,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"from importlib_metadata import version\n",
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"version(\"mdh\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": []
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.7.5"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 4
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}

‎docs/pics/3-Figure1-1.png‎

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‎docs/pics/3-Table1-1.png‎

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‎docs/pics/det_244_kuka_quantec_kr90_eurobots.jpg‎

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‎mdh/models.py‎

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# MIT Licensed
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import numpy as np
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from collections import namedtuple
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RobotModel = namedtuple('RobotModel', "dh angles")
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def kuka_lbr_iiwa_7():
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"""Get KUKA LBR iiwa 7 MDH model. (https://github.com/nnadeau/pybotics)"""
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dh = [
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{'alpha': 0, 'theta': 0, 'd': 0, 'a': 0.340},
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{'alpha': -np.pi / 2, 'theta': 0, 'd': 0, 'a': 0},
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{'alpha': np.pi / 2, 'theta': 0, 'd': 0, 'a': 0.400},
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{'alpha': np.pi / 2, 'theta': 0, 'd': 0, 'a': 0},
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{'alpha': -np.pi / 2, 'theta': 0, 'd': 0, 'a': 0.400},
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{'alpha': -np.pi / 2, 'theta': 0, 'd': 0, 'a': 0},
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{'alpha': np.pi / 2, 'theta': 0, 'd': 0, 'a': 0.126},
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]
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return dh
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def kuka_kr_500():
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"""KUKA KR 500 (Forces Acting on the Robot during Grinding, Thesis, Adam Tresnak, 2017)"""
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dh = [
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{'alpha': np.pi / 2, 'theta': 0, 'd': -1.045, 'a': 0.5},
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{'alpha': 0, 'theta': 0, 'd': 0, 'a': 1.3},
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{'alpha': -np.pi / 2, 'theta': 0, 'd': 0, 'a': 0.055},
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{'alpha': np.pi / 2, 'theta': 0, 'd': -1.025, 'a': 0},
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{'alpha': -np.pi / 2, 'theta': 0, 'd': 0, 'a': 0},
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{'alpha': np.pi, 'theta': 0, 'd': -0.290, 'a': 0},
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]
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return dh
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# def mecademic_meca500():
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# """Get Meca500 MDH model."""
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# return np.array(
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# {
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# {0, 0, 0, 135},
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# {-np.pi / 2, 0, -np.pi / 2, 0},
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# {0, 135, 0, 0},
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# {-np.pi / 2, 38, 0, 120},
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# {np.pi / 2, 0, 0, 0},
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# {-np.pi / 2, 0, np.pi, 72},
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# }
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# )
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#
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#
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def puma560():
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"""Get PUMA560 MDH model."""
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return [
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{'alpha': 0, 'a': 0, 'theta': 0, 'd': 0},
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{'alpha': -np.pi / 2, 'a': 0, 'theta': 0, 'd': 0},
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{'alpha': 0, 'a': 612.7, 'theta': 0, 'd': 0},
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{'alpha': 0, 'a': 571.6, 'theta': 0, 'd': 163.9},
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{'alpha': -np.pi / 2, 'a': 0, 'theta': 0, 'd': 115.7},
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{'alpha': np.pi / 2, 'a': 0, 'theta': np.pi, 'd': 92.2},
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]
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#
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#
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# def ur10():
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# """Get UR10 MDH model."""
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# return np.array(
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# {
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# {0, 0, 0, 118},
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# {np.pi / 2, 0, np.pi, 0},
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# {0, 612.7, 0, 0},
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# {0, 571.6, 0, 163.9},
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# {-np.pi / 2, 0, 0, 115.7},
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# {np.pi / 2, 0, np.pi, 92.2},
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# }
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# )

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