Kinematics and dynamics solvers and controllers.

Link to Doxygen generated documentation: https://robots.uc3m.es/kinematics-dynamics/

Installation

Installation instructions for installing from source can be found here.

Contributing

Posting Issues

1. Read CONTRIBUTING.md
2. Post an issue / Feature request / Specific documentation request

Fork & Pull Request

1. Fork the repository
2. Create your feature branch (git checkout -b my-new-feature) off the master branch, following the Forking Git workflow
3. Commit your changes
4. Push to the branch (git push origin my-new-feature)
5. Create a new Pull Request

Citation

If you found this project useful, please consider citing the following works:

• ScrewTheoryLib

Bartek Łukawski, Ignacio Montesino Valle, Juan G. Victores, Alberto Jardón, and Carlos Balaguer. An inverse kinematics problem solver based on screw theory for manipulator arms. In XLIII Jornadas de Automática, pages 864–869. Universidade da Coruña, 2022.

@inproceedings{lukawski2022jjaa,
    author    = {{\L}ukawski, Bartek and Montesino Valle, Ignacio and Victores, Juan G. and Jardón, Alberto and Balaguer, Carlos},
    title     = {An inverse kinematics problem solver based on screw theory for manipulator arms},
    booktitle = {XLIII Jornadas de Automática},
    year      = {2022},
    pages     = {864--869},
    publisher = {Universidade da Coruña},
    doi       = {10.17979/spudc.9788497498418.0864},
}

• streamingDeviceController

Edwin Daniel Oña, Bartek Łukawski, Alberto Jardón, and Carlos Balaguer. A modular framework to facilitate the control of an assistive robotic arm using visual servoing and proximity sensing. In IEEE Int. Conf. on Autonomous Robot Systems and Competitions (ICARSC), pages 28–33, 2020.

@inproceedings{eona2020icarsc,
    author    = {{O\~na}, Edwin Daniel and {\L}ukawski, Bartek and Jardón, Alberto and Balaguer, Carlos},
    title     = {A modular framework to facilitate the control of an assistive robotic arm using visual servoing and proximity sensing},
    booktitle = {IEEE Int. Conf. on Autonomous Robot Systems and Competitions (ICARSC)},
    year      = {2020},
    pages     = {28--33},
    doi       = {10.1109/ICARSC49921.2020.9096146},
}

Bartek Łukawski, Juan G. Victores, and Carlos Balaguer. A generic controller for teleoperation on robotic manipulators using low-cost devices. In XLIV Jornadas de Automática, pages 785–788. Universidade da Coruña, 2023.

@inproceedings{lukawski2023jjaa,
    author    = {{\L}ukawski, Bartek and Victores, Juan G. and Balaguer, Carlos},
    title     = {A generic controller for teleoperation on robotic manipulators using low-cost devices},
    booktitle = {XLIV Jornadas de Automática},
    year      = {2023},
    pages     = {785--788},
    publisher = {Universidade da Coruña},
    doi       = {10.17979/spudc.9788497498609.785},
}

Status

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