ManipulaPy

ManipulaPy is a comprehensive Python package for robotic manipulator analysis and simulation. It offers a range of functionalities, from kinematic calculations to dynamic analysis and path planning, making it a versatile tool for both educational and research purposes in the field of robotics.

Features

• Kinematic Analysis: Compute forward and inverse kinematics for serial manipulators.
• Dynamic Analysis: Perform calculations related to the dynamics of manipulators, including mass matrix computation, gravity forces, and velocity quadratic forces.
• Path Planning: Implement various path planning algorithms for robotic manipulators.
• Singularity Analysis: Analyze and identify singular configurations of robotic manipulators.
• URDF Processing: Parse and process URDF (Unified Robot Description Format) files for simulation and analysis.
• Controllers: Implement various control strategies such as PD, PID, robust, adaptive, and feedforward controllers, along with Kalman filter-based control.
• Visualization: Tools for visualizing joint and end-effector trajectories, and analyzing steady-state response.

Installation

To install ManipulaPy, run the following command:

pip install ManipulaPy

Getting Started

To get started with ManipulaPy, you'll need to have a URDF file for your robotic manipulator. The following example shows how to initialize the library with a URDF file and perform basic kinematic and dynamic calculations.

from ManipulaPy.urdf_processor import URDFToSerialManipulator
from ManipulaPy.kinematics import SerialManipulator
from ManipulaPy.dynamics import ManipulatorDynamics
from ManipulaPy.path_planning import TrajectoryPlanning as tp
from ManipulaPy.control import ManipulatorController
import numpy as np
from math import pi

# Path to your URDF file
urdf_file_path = "path_to_urdf/robot.urdf"

# Initialize the URDF processor and extract the serial manipulator
urdf_processor = URDFToSerialManipulator(urdf_file_path)
robot = urdf_processor.serial_manipulator
dynamics = ManipulatorDynamics(urdf_processor.M_list, urdf_processor.omega_list, urdf_processor.r_list, urdf_processor.b_list, urdf_processor.S_list, urdf_processor.B_list, urdf_processor.Glist)
controller = ManipulatorController(dynamics)

# Example joint angles
thetalist = np.array([pi, pi/6, pi/4, -pi/3, -pi/2, -2*pi/3])
T = robot.forward_kinematics(thetalist)
print("Forward Kinematics:", T)

Usage

Kinematics

Perform forward and inverse kinematics for your robot.

# Forward Kinematics
T = robot.forward_kinematics(thetalist)
print("Forward Kinematics:", T)

# Inverse Kinematics
thetalist_sol = robot.inverse_kinematics(T)
print("Inverse Kinematics:", thetalist_sol)

Dynamics

Calculate mass matrices, velocity quadratic forces, and gravity forces.

# Mass Matrix
M = dynamics.mass_matrix(thetalist)
print("Mass Matrix:", M)

# Velocity Quadratic Forces
c = dynamics.velocity_quadratic_forces(thetalist, dthetalist)
print("Velocity Quadratic Forces:", c)

# Gravity Forces
g_forces = dynamics.gravity_forces(thetalist)
print("Gravity Forces:", g_forces)

Trajectory Planning

Plan joint space and Cartesian trajectories.

# Joint Space Trajectory
traj = tp.JointTrajectory([0]*6, thetalist, Tf=5, N=100, method=5)
print("Joint Space Trajectory:", traj)

# Cartesian Trajectory
Xstart = np.eye(4)
Xend = np.array([[0, -1, 0, 1.0], [1, 0, 0, 0.0], [0, 0, 1, 0.5], [0, 0, 0, 1]])
cartesian_traj = tp.CartesianTrajectory(Xstart, Xend, Tf=5, N=100, method=5)
print("Cartesian Trajectory:", cartesian_traj)

Controllers

Implement various control strategies for your robot.

# PD Control
tau = controller.pd_control(thetalistd, dthetalistd, thetalist, dthetalist, Kp, Kd)
print("PD Control Torques:", tau)

# PID Control
tau = controller.pid_control(thetalistd, dthetalistd, thetalist, dthetalist, dt, Kp, Ki, Kd)
print("PID Control Torques:", tau)

# Robust Control
tau = controller.robust_control(thetalist, dthetalist, ddthetalist, g, Ftip, disturbance_estimate, adaptation_gain)
print("Robust Control Torques:", tau)

# Adaptive Control
tau = controller.adaptive_control(thetalist, dthetalist, ddthetalist, g, Ftip, measurement_error, adaptation_gain)
print("Adaptive Control Torques:", tau)

Visualization

Visualize joint and end-effector trajectories and analyze the steady-state response.

# Plot Joint Trajectory
tp.plot_trajectory(traj, Tf=5)

# Plot Cartesian Trajectory
tp.plot_cartesian_trajectory(cartesian_traj, Tf=5)

# Plot Steady-State Response
time = np.linspace(0, 5, 100)
response = np.exp(-time) * np.sin(5 * time) + 1  # Example response
controller.plot_steady_state_response(time, response, set_point=1)

Examples

Check out the examples directory for comprehensive examples demonstrating how to use ManipulaPy for various tasks, including kinematics, dynamics, trajectory planning, and control.

Contributing

We welcome contributions to ManipulaPy! If you'd like to contribute, please fork the repository and submit a pull request with your changes. Ensure that your code adheres to the existing style and includes tests for new functionality.

License

This project is licensed under the MIT License. See the LICENSE file for more details.

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Feel free to reach out if you have any questions or need further assistance!