Kinematics Tutorial — ManipulaPy 1.1.0 Documentation
Description: This tutorial covers the fundamentals of robot kinematics using ManipulaPy. Introduction: Robot kinematics deals with the geometry of robot motion without considering forces. Basic Forward Kinemati...

# Kinematics Tutorial

This tutorial covers the fundamentals of robot kinematics using ManipulaPy.

## Introduction

Robot kinematics deals with the geometry of robot motion without considering forces.

## Basic Forward Kinematics

    import numpy as np
    from ManipulaPy.kinematics import SerialManipulator

    # Create manipulator
    robot = SerialManipulator(
        M_list=M,
        omega_list=omega,
        S_list=S_list,
        B_list=B_list
    )

    # Compute forward kinematics
    joint_angles = np.array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6])
    T = robot.forward_kinematics(joint_angles)

## Inverse Kinematics

    # Define desired end-effector pose
    T_desired = np.eye(4)
    T_desired[:3, 3] = [0.5, 0.3, 0.4]  # Position

    # Solve inverse kinematics
    solution, success, iterations = robot.iterative_inverse_kinematics(
        T_desired=T_desired,
        thetalist0=np.zeros(6),
        eomg=1e-6,
        ev=1e-6
    )

## See Also

- Kinematics User Guide - Complete kinematics guide

- Kinematics API Reference - Kinematics API reference