IKBT

A python based system for generating closed-form solutions to the manipulator inverse kinematics problem.

Our major contributions to automate closed-form kinematics solving are:

1. We built an autonomous inverse kinematics solver (IKBT) using a behavior tree to organize solution algorithms.
2. We incorporated knowledge frequently used (by human experts) when solving inverse kinematics into a behavior tree. These rule-based solvers applicable to any serial-chain, non-redundant, robot arm.
3. IKBT generates a dependency {\it graph} of joint variables after solving, generating all possible solutions.
4. IKBT provides convenience features such as automatic documentation of the solution in \LaTeX and automatic code generation in Python and C++.
5. Implementation in a modern open-source, cross-platform, programming language (Python) with minimal dependencies outside of the standard Python distribution ({\tt sympy}).

How to cite:

Zhang, Dianmu, and Blake Hannaford. "IKBT: solving closed-form Inverse Kinematics with Behavior Tree." arXiv preprint arXiv:1711.05412 (2017).

http://arxiv.org/abs/1711.05412

Dependencies.

You need the following to be installed to run IKBT:

• Python 2.7.x (Python Installation)
• Sympy python package (Installation instructions for all OS)
• Latex package (for nice text output - highly recommended) (Install Latex)