Add support for Joint ranges

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 support for Joint ranges #20

Open liquidcronos opened 3 years ago

liquidcronos commented 3 years ago

currently all joints have a infinite range. For each virtual and actuated state it should be possible to specify their working range.

The inverse kinematics solver should observe these ranges using constraints. (This can be done with opti.subject_to)

Additionally it should not be possible to set a state value that is not within its range

liquidcronos commented 3 years ago

Since virtual joints are subject to complex constrains created by the closed chain it is not sufficient to specify the range for each state separately. Instead a multidimensional jant space has to be defined where the vector of Joint values has to remain.