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libkine

A serial robot kinematics library.

Feature:

  • DH Paramters
  • Homogenous transformation matrix
  • Screw theory
  • Rigid body velocity / Jacobian
  • 3D Visualization with using STL file

Dependencies:

  1. VTK for visualization
  2. Armadillo for matrix calculation
  3. FLTK for the joint sider interface

How to Install:

  1. Make sure you have git-lfs installed
  2. Clone the repository: git clone git@github.com:auralius/libkine.git
  3. Go to the directory of the cloned project, use git-lfs to get the binaries and the robot 3D models: git lfs checkout
  4. Build the source using CMake
  5. Create directory: mkdir build
  6. Go inside build, type: cmake ..
  7. Type: make
  8. Run: ./demo1 or ./demo2 ../model/puma/puma.csv ../model/puma/puma.csv

Binaries and robot 3D models are stored with git-lfs (https://git-lfs.github.com).