THIS IS A PLACEHOLDER. THE BOOK WILL BE PUBLISHED LATE IN 2022. THIS REPO IS A WIP UNTIL THEN
This book depends on the following open-source Python packages:
which in turn have dependencies on other packages created by the author and third parties.
This package provides a simple one-step installation of the required Toolboxes
$ pip install rvc3python
or
$ conda install rvc3python
The package also provides other resources for readers including:
-
Command line executable tools include:
rvctool, a command line script that is an IPython wrapper. It imports the above mentioned packages usingimport *and then provides an interactive computing environment. By defaultrvctoolhas prompts like the regular Python REPL not IPython, and it automatically displays the results of expressions like MATLAB does - put a semicolon on the end of the line to suppress that.rvctoolallows cutting and pasting in lines from the book, and prompt characters are ignored.eigdemo, animation showing linear transformation of rotating unit vectortripleangledemo, experiment with various triple-angle sequencestwistdemo, experiment with 3D twists
-
The complete code to produce every Python-generated figure in the book, see folder
figures -
All example scripts, see folder
examples -
All block diagram models, see folder
models
Block diagram models are simulated using the Python package bdsim which can run models:
- written in Python using bdsim blocks and wiring.
- created graphically using bdedit and saved as a
.bd(JSON format) file.
____ _ _ _ __ ___ _ ___ ____ _ _ _____
| _ \ ___ | |__ ___ | |_(_) ___ ___ \ \ / (_)___(_) ___ _ __ ( _ ) / ___|___ _ __ | |_ _ __ ___ | | |___ /
| |_) / _ \| '_ \ / _ \| __| |/ __/ __| \ \ / /| / __| |/ _ \| '_ \ / _ \/\ | | / _ \| '_ \| __| '__/ _ \| | |_ \
| _ < (_) | |_) | (_) | |_| | (__\__ \_ \ V / | \__ \ | (_) | | | | | (_> < | |__| (_) | | | | |_| | | (_) | | ___) |
|_| \_\___/|_.__/ \___/ \__|_|\___|___( ) \_/ |_|___/_|\___/|_| |_| \___/\/ \____\___/|_| |_|\__|_| \___/|_| |____/
|/
for Python (RTB==0.11.0, MVTB==0.5.5, SMTB==0.11.0)
import numpy as np
import scipy as sp
import matplotlib.pyplot as plt
from math import pi
from spatialmath import *
from spatialmath.base import *
from roboticstoolbox import *
from machinevisiontoolbox import *
import machinevisiontoolbox.base as mvbase
func/object? - show brief help
help(func/object) - show detailed help
func/object?? - show source code
Results of assignments will be displayed, use trailing ; to suppress
Python 3.8.5 (default, Sep 4 2020, 02:22:02)
Type 'copyright', 'credits' or 'license' for more information
IPython 8.0.1 -- An enhanced Interactive Python. Type '?' for help.
>>> panda = models.ETS.Panda()
ERobot: Panda (by Franka Emika), 7 joints (RRRRRRR)
┌─────┬───────┬───────┬────────┬─────────────────────────────────────────────┐
│link │ link │ joint │ parent │ ETS: parent to link │
├─────┼───────┼───────┼────────┼─────────────────────────────────────────────┤
│ 0 │ link0 │ 0 │ BASE │ tz(0.333) ⊕ Rz(q0) │
│ 1 │ link1 │ 1 │ link0 │ Rx(-90°) ⊕ Rz(q1) │
│ 2 │ link2 │ 2 │ link1 │ Rx(90°) ⊕ tz(0.316) ⊕ Rz(q2) │
│ 3 │ link3 │ 3 │ link2 │ tx(0.0825) ⊕ Rx(90°) ⊕ Rz(q3) │
│ 4 │ link4 │ 4 │ link3 │ tx(-0.0825) ⊕ Rx(-90°) ⊕ tz(0.384) ⊕ Rz(q4) │
│ 5 │ link5 │ 5 │ link4 │ Rx(90°) ⊕ Rz(q5) │
│ 6 │ link6 │ 6 │ link5 │ tx(0.088) ⊕ Rx(90°) ⊕ tz(0.107) ⊕ Rz(q6) │
│ 7 │ @ee │ │ link6 │ tz(0.103) ⊕ Rz(-45°) │
└─────┴───────┴───────┴────────┴─────────────────────────────────────────────┘
┌─────┬─────┬────────┬─────┬───────┬─────┬───────┬──────┐
│name │ q0 │ q1 │ q2 │ q3 │ q4 │ q5 │ q6 │
├─────┼─────┼────────┼─────┼───────┼─────┼───────┼──────┤
│ qr │ 0° │ -17.2° │ 0° │ -126° │ 0° │ 115° │ 45° │
│ qz │ 0° │ 0° │ 0° │ 0° │ 0° │ 0° │ 0° │
└─────┴─────┴────────┴─────┴───────┴─────┴───────┴──────┘
>>>