RoKi - Robot Kinetics library

Copyright (C) Tomomichi Sugihara (Zhidao) since 1998

[What is this?]

RoKi is a software library for robot kinetics computation including:

• forward kinematics
• velocity and acceleration analysis
• inverse dynamics
• inverse kinematics
• forward dynamics
• collision detection and contact dynamics

It facilitates on-line robot controls as well as off-line robot motion analyses, plannings and simulations.

ZEDA, ZM and Zeo are required to be installed.

[Installation / Uninstallation]

install

Install ZEDA, ZM and Zeo in advance.

Move to a directly under which you want to install RoKi, and run:

   % git clone https://github.com/zhidao/roki.git
   % cd roki

Edit PREFIX in config file if necessary in order to specify a directory where the header files, the library and some utilities are installed. (default: ~/usr)

• header files: $PREFIX/include/roki
• library file: $PREFIX/lib
• utilities: $PREFIX/bin

Then, make and install.

   % make && make install

uninstall

Do:

   % make uninstall

which removes $PREFIX/lib/libroki.so and $PREFIX/include/roki.

[How to use]

When you want to compile your code test.c, for example, the following line will work.

   % gcc `roki-config -L` `roki-config -I` test.c `roki-config -l`

[Contact]

zhidao@ieee.org