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TriPed-Robot / trip_kinematics

Python package for inverse kinematic calculations of hybrid serial parallel robots
https://trip-kinematics.readthedocs.io/en/main/
MIT License
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Add ability to create branching kinematics #18

Closed liquidcronos closed 3 years ago

liquidcronos commented 3 years ago

Using the parent and child realtion of kinematic groups it should be able to work with branching kinematic trees. In this case there is no single virtual transformation from start to finish! For example a TriPed with three legs has three branching chains

liquidcronos commented 3 years ago

This should be handeled in the robot class as the group is designed for single chains

liquidcronos commented 3 years ago

The forward and inverse kinematics should accept a "tip" argument whitch speficies for witch endeffector the kinematics are computed