RoboLab#

RoboLab is a subpackage of the rofunc package. It contains useful functions for robotics.

1.  Coordinate transformations and rigid body motions#

We consider the common coordinate and motion representation in robotics, and implement the functions to convert between them.

For rotations, we consider the following representations:

  • Euler angle: euler

  • Rotation matrix: rot_matrix

  • Quaternion: quaternion

For translations, we consider the following representations:

  • Cartesian coordinates: translation

For rigid body motions, we consider the following representations:

  • Homogeneous transformation matrix: homo_matrix

1.1.  Convert between rotation representations#

To convert from one rotation representation [src_repr] to another [dst_repr], use the following functions:

import rofunc as rf

[src_repr]_R = ...
[dst_repr]_R = rf.robolab.[dst_repr]_from_[src_repr]([src_repr]_R)

Detailed usage examples for each functions can be found in the rofunc.utils.robolab.coord.transform.

1.2.  Convert from rotation and translation to homogeneous transformation#

To convert from rotation [src_repr]_R and translation [translation]_p to homogeneous transformation T, use the following functions:

import rofunc as rf

[src_repr]_R = ...
[translation]_p = ...
T = rf.robolab.homo_matrix_from_[src_repr]([src_repr]_R, [translation]_p)

2.  Robot kinematics#

3.  Robot dynamics#