This is a convenient piece of software I wrote during my time at the ALTAIR Robotics Laboratory. It computes the most common matrices used in robotics such as the Forward Kinematics and Analytical/Geometric Jacobians in symbolic forms while also allowing numerical substitution.
DISCLAIMER: if you intend to do any serious work, you are probably better off by using the excellent Robotics Toolbox for Python by Peter Corke.
- Clone the repo
git clone https://github.com/matteomeneghetti/symrobotics - Run the install script
python3 setup.py install
Minimal use cases are provided in the examples directory.