Ik Geo 1.0.3 | GitLocker.com Product

Description:

ikgeo 1.0.3

IK-Geo
This implementation of the core IK-Geo algorithms was adapted from IK-Geo. For details on the algorithms used, refer to the original source or to the paper "IK-Geo: Unified Robot Inverse Kinematics Using Subproblem Decomposition".
To install
This can be installed from pypi with:
pip install ik_geo

To install the package from this repository locally, use:
pip install .

To Use
Refer to examples/sample.py for a full code example.
To compute the IK solutions for a specific robot, you can either select one of the hardcoded robots available or provide your own kinematics. If you provide your own kinematics, you must do so as a Product of Exponentials (POE). This is either with 6 or 7 h vectors (rotation axes) and 7 or 8 p vectors (displacements), respectively. Note that 7-joint bots are not yet supported, so the user must choose one joint to fix to give 6 h vectors and 7 p vectors
Once you have your kinematics, you need to choose the correct decomposition strategy from: { "spherical_two_parallel", "spherical_two_intersecting", "spherical", "three_parallel_two_intersecting", "three_parallel", "two_parallel", "two_intersecting", "gen_six_dof" } to use. If you choose the wrong one, you will get wrong answers.
Once you have configured your IK solver, you can get a list of IK solutions by calling the desired ik function:
from ik_geo import Robot

h # 6x3 array
p # 7x3 array

robot = Robot.spherical_two_intersecting(h,p)

R = [[0, 0, 1], [0, 1, 0], [-1, 0, 0]]
t = [-1, 3, 0]

# For all possible solutions, as well as whether or not they are least squares
solutions = robot.get_ik(R, t)

# For all possible IK solutions sorted by error
solutions = robot.get_ik_sorted(R, t)

Performance
While this implementation can be used on a wide range of manipulators, it performs much better on when the solution can be found entirely analytically. The following table shows which method is used for each type of kinematics:

Solution Type
Robot Kinematic Family
Example

Closed-form
Spherical joint
Franka Production 3, fixed q5

     and two intersecting axes
KUKA LBR iiwa 7 R800 , fixed q3

     and two parallel axes
ABB IRB 6640

Three parallel axes
N/A

     and two intersecting axes
Universal Robots UR5

     and two parallel axes
N/A

1D search
Two intersecting axes
Kassow Robots KR810, fixed q7

     and two intersecting axes
FANUC CRX-10iA/L

     and two parallel axes
Kawasaki KJ125

Two parallel axes
N/A

     and two parallel axes
N/A

Two intersecting axes k,k+2
ABB YuMi, fixed q3

     and two intersecting axes
RRC K-1207i, fixed q6

     and two parallel axes
N/A

2D search
General 6R
Kassow Robots KR810, fixed q6