Python KDL计算fk和ik

最新推荐文章于 2025-06-11 22:48:42 发布

小弧光

最新推荐文章于 2025-06-11 22:48:42 发布

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文章标签： kdl python 机械臂机器人

本文介绍如何使用URDF与PyKDL库进行机器人的运动学计算，包括正向运动学、逆向运动学及雅各比矩阵的求解。通过具体实例展示了从URDF文件加载机器人模型到完成运动学计算的全过程。

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#! /usr/bin/env python

# Import the module
from urdf_parser_py.urdf import URDF
from pykdl_utils.kdl_parser import kdl_tree_from_urdf_model
from pykdl_utils.kdl_kinematics import KDLKinematics

robot = URDF.from_xml_file("robot.urdf")

tree = kdl_tree_from_urdf_model(robot)
print tree.getNrOfSegments()

chain = tree.getChain("link0", "link3")
print chain.getNrOfJoints()

# forwawrd kinematics
kdl_kin = KDLKinematics(robot, "link0", "link3")
q = [0, 0, 0]
pose = kdl_kin.forward(q) # forward kinematics (returns homogeneous 4x4 matrix)
print "forward ",pose 
print " "
q_ik = kdl_kin.inverse(pose) # inverse kinematics
print "inverse ",q_ik
print " "
if q_ik is not None:
    pose_sol = kdl_kin.forward(q_ik) # should equal pose
print "forward ",pose_sol 
print " "

J = kdl_kin.jacobian(q)
print 'J:', J