Robotics Toolbox for Python

Peter Corke's Python robotics toolbox, a popular way to learn kinematics and dynamics hands-on.

Robotics Toolbox for Python is an open-source Python library from Professor Peter Corke's group at Queensland University of Technology in Australia. It's the successor to the MATLAB Robotics Toolbox he maintained for many years, and is also the companion code for his textbook Robotics, Vision and Control. It includes built-in models for common arms such as the Panda and UR5, lets users build models from DH parameters or a URDF, and provides functions for forward and inverse kinematics, the Jacobian matrix, dynamics, and trajectory generation, plus a built-in visualizer that can animate an arm's motion. For a beginner, using it to work through a textbook's formulas is much faster than writing the code from scratch.

ExampleLoad a Franka model with rtb.models.Panda(), call fkine to compute the end-effector pose, then use ikine_LM to solve for the joint angles at a target pose.

Also called

roboticstoolbox-python, RTB

Related

Forward Kinematics (FK) · Inverse Kinematics (IK) · Denavit-Hartenberg (DH) Parameters · Jacobian Matrix · Pinocchio · Franka Emika Panda / Franka Research 3

Sources

Robotics Toolbox for Python on GitHub