Robot_Arm_Kinematics_Lib

A kinematic Library for 6-axis Articulated Robot Arm Doxygen API Documentation

Note: still WIP 🚧

Here is the online version (link) of Demo GUI

Basic Build Instructions

1. Clone this repo.
2. Make a build directory: mkdir build && cd build
3. Use CMake to generate Makefile: cmake ..
4. Compile a testing program: make test_run
5. Run it: ./test_run

Dependencies

• cmake >= 3.2
• make >= 4.1
• gcc/g++ >= 5.4
• eigen >= 3

Optional for building document

• doxygen
• graphviz

Reference

• Craig, John J. Introduction to robotics: mechanics and control. Vol. 3. Upper Saddle River: Pearson Prentice Hall, 2005.
• Corke, Peter. Robotics-Toolbox-Python Official Link
• Robotics Library GitHub Page