Robotic Arm Kinematics

Table of Contents

• Introduction
• Features
• Installation
• Usage
• Configuration
• Contributing
• License
• Acknowledgements

Introduction

This project implements forward and inverse kinematics for a 4-DOF robotic arm using Python. It includes two main scripts:

1. forward_kinematics.py: Calculates the end-effector position based on given joint angles using the Denavit-Hartenberg convention.
2. inverse_kinematics.py: Determines the joint angles required to achieve a specified end-effector position.

Features

• Forward Kinematics: Computes the position and orientation of the robotic arm's end effector from given joint angles.
• Inverse Kinematics: Calculates the necessary joint angles to place the end effector at a desired position.

Installation

Prerequisites

• Python 3.x
• NumPy library

Steps

1. Clone the repository:

   git clone https://github.com/emmanueludehchukwudi/Robot-Arm-Kinematics.git
   

2. Navigate to the project directory:

   cd Robot-Arm-Kinematics
   

3. Install Dependencies:

   pip install numpy

Configuration

You can modify the following parameters in the scripts:

Link lengths (a1, a2, a3) Initial joint angles (T1, T2, T3, T4 in forward_kinematics.py) Desired end-effector position (x, y, z in inverse_kinematics.py)

Contributions

Contributions are welcome! Please follow these steps to contribute:

1. Fork the repository.
2. Create a new branch (git checkout -b feature-branch).
3. Make your changes.
4. Commit your changes (git commit -m 'Add some feature').
5. Push to the branch (git push origin feature-branch).
6. Open a pull request.

Acknowledgements

• NumPy for providing the numerical computation tools.