TriP
TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots - Published in JOSS (2022)
Science Score: 49.0%
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○CITATION.cff file
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✓codemeta.json file
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✓.zenodo.json file
Found .zenodo.json file -
✓DOI references
Found 8 DOI reference(s) in README -
✓Academic publication links
Links to: joss.theoj.org -
○Committers with academic emails
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○Institutional organization owner
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○JOSS paper metadata
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○Scientific vocabulary similarity
Low similarity (15.6%) to scientific vocabulary
Keywords
Repository
Python package for inverse kinematic calculations of hybrid serial parallel robots
Basic Info
- Host: GitHub
- Owner: TriPed-Robot
- License: mit
- Language: Python
- Default Branch: main
- Homepage: https://trip-kinematics.readthedocs.io/en/main/
- Size: 19.8 MB
Statistics
- Stars: 39
- Watchers: 3
- Forks: 4
- Open Issues: 21
- Releases: 5
Topics
Metadata Files
README.md
TriP
TriP is a python library designed to calculate the forward- and inverse-kinematics of rigid mechanisms.
This includes open chains, closed chains, and even combinations of both.
Features
- Model any robot (including closed and hybrid chains)
- Generate symbolic representations of forward kinematics
- Compute Jacobian matrices for differential kinematics
- Compute the inverse kinematics of arbitrary rigid mechanisms
- Compute the Inverse Kinematics in position and/or orientation
- Support arbitrary joint types and quaternions
- Includes several ready to use examples (TriPed robot, Excavator Arm)
- TriPs validates the inverse kinematics algorithms with extensive testing using analytic solutions.
Installation
Installing the latest release (recommended):
pip install trip-kinematics
Installing the newest version from source:
git clone https://github.com/TriPed-Robot/trip_kinematics
cd trip_kinematics
pip install src/
Documentation
The documentation can be found here
How to cite this library
If you find this work useful please give credits to the authors by citing:
- Baumgärtner et al., (2022). TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots. Journal of Open Source Software, 7(71), 3967, https://doi.org/10.21105/joss.03967
@article{Baumgärtner2022,
doi = {10.21105/joss.03967},
url = {https://doi.org/10.21105/joss.03967},
year = {2022},
publisher = {The Open Journal},
volume = {7},
number = {71},
pages = {3967},
author = {Jan Baumgärtner and Torben Miller},
title = {TriP: A Python package for the kinematic modeling of serial-parallel hybrid robots},
journal = {Journal of Open Source Software}
}
Owner
- Name: TriPed Project
- Login: TriPed-Robot
- Kind: organization
- Location: Heidelberg Neuenheimer Feld
- Website: https://triped-robot.github.io/
- Repositories: 3
- Profile: https://github.com/TriPed-Robot
3 Legged Walking Robot used to study cooperation between multiple Agents
GitHub Events
Total
- Watch event: 9
Last Year
- Watch event: 9
Committers
Last synced: 7 months ago
Top Committers
| Name | Commits | |
|---|---|---|
| Jan Baumgärtner | 2****s | 228 |
| Torben Miller | b****4@g****m | 95 |
| Mihai Verzan | r****2@g****m | 45 |
| Luichang | c****t@y****m | 30 |
| Bence Magyar | b****s@g****m | 1 |
Issues and Pull Requests
Last synced: 6 months ago
All Time
- Total issues: 66
- Total pull requests: 16
- Average time to close issues: 23 days
- Average time to close pull requests: 10 days
- Total issue authors: 5
- Total pull request authors: 5
- Average comments per issue: 0.85
- Average comments per pull request: 0.13
- Merged pull requests: 15
- Bot issues: 0
- Bot pull requests: 0
Past Year
- Issues: 0
- Pull requests: 0
- Average time to close issues: N/A
- Average time to close pull requests: N/A
- Issue authors: 0
- Pull request authors: 0
- Average comments per issue: 0
- Average comments per pull request: 0
- Merged pull requests: 0
- Bot issues: 0
- Bot pull requests: 0
Top Authors
Issue Authors
- liquidcronos (53)
- TorbenMiller (8)
- bmagyar (2)
- rtyh12 (1)
- flbauer (1)
Pull Request Authors
- liquidcronos (12)
- bmagyar (1)
- TorbenMiller (1)
- rtyh12 (1)
- danielskatz (1)
Top Labels
Issue Labels
Pull Request Labels
Dependencies
- casadi >=3.5.5
- defusedxml >=0.5
- numpy >=1.17.4,