IKBT
A python package to solve robot arm inverse kinematics in symbolic form (by uw-biorobotics)
RoboPy
Python module for robotics. Covers transforms, kinematic models of serial link arms created with DH parameters, dynamics algorithms like RNE and Euler Lagrange formulations, and tools for visualizing and simulating robots. (by Tarnarmour)
| IKBT | RoboPy | |
|---|---|---|
| 2 | 2 | |
| 168 | 2 | |
| 1.2% | - | |
| 7.4 | 5.7 | |
| 3 months ago | 9 months ago | |
| Python | Python | |
| GNU General Public License v3.0 or later | MIT License |
The number of mentions indicates the total number of mentions that we've tracked plus the number of user suggested alternatives.
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
IKBT
Posts with mentions or reviews of IKBT.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2022-02-01.
-
Inverse Kinematics Help?
Check out https://github.com/uw-biorobotics/IKBT
- Inverse Kinematics CRX-10iA
RoboPy
Posts with mentions or reviews of RoboPy.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2022-02-01.
- What should I call my Robotics Library?
-
Inverse Kinematics Help?
You can get good performance with relatively simple algorithms, usually iterative. There are analytic algorithms, that is algorithms where you have an exact equation for the solution, but those only exist for specific types of robot arms, where you have a spherical wrist as the last 3 links. Iterative methods exist though, which will solve quickly enough for a desktop toy. I see that some others have already posted example code; the MATLAB Robotics Toolbox by Peter corke has ik algorithms prewritten, though you'll have to make a robot model using his code (not too bad, if you have used DH parameters before). I've written a similar library in Python here.
What are some alternatives?
When comparing IKBT and RoboPy you can also consider the following projects:
robotics-toolbox-python - Robotics Toolbox for Python
habitat-api - A modular high-level library to train embodied AI agents across a variety of tasks, environments, and simulators. [Moved to: https://github.com/facebookresearch/habitat-lab]
pink - Python inverse kinematics based on Pinocchio