Planar Robot

2D robotic arm with arbitrary number of links and rotational joints.

Implementation of trajectory planning and kinematic control.

Examples

Real-time visualization of kinematic control while the end-effector follows a path (notebook).

Dependencies

• numpy
• matplotlib

Use

from planarobot.planar_arm import PlanarArm  

links = np.array([2, 1, 1])  # lengths of links  
robot = PlanarArm(links)  

...