Tutorials

Contents:

• Loading Prepared Models
• Plotting Examples
  • Static plotting
  • Interactive plotting
    • Scaling of plotted objects
    • Optional tool frames
    • Generating frames (for animation)
• ARK 2024 Paper - Extended Information
  • Bennett mechanism example
    • Physical modelling of Bennett mechanism
• Motion Factorization
  • Factorization of planar 4-bar
  • Factorization of spatial 6R mechanism
• Motion Interpolation
  • Quadratic interpolation of 3 poses
  • Cubic interpolation of 4 poses
  • Quadratic interpolation of 5 points
  • Cubic interpolation of 7 points
• Motion Designer
• Combinatorial search of collision-free mechanism
• Synthesis of Bennett Mechanism (JupyterNTB Tutorial)
  • Poses definition
  • Poses interpolation
  • Motion factorization
  • Collision-free design
  • Generation of physical parameters
• Mechanism in the World Frame
  • Default (home) configuration
  • Changing base frame of the mechanism
• CAD Modeling
  • Generating CAD Models
  • Visualizing Custom STL in MotionDesigner
• Direct (Forward) Kinematics
• Inverse Kinematics (Numerical)
• Velocity Motion Planning
• Direct (Forward) Kinematics, Inverse Kinematics, and Trajectory Generation
• Dynamics Simulations - Exudyn Integration
• Symbolic Backend
  • Example - DualQuaternionSymbolic
    • Basic construction
    • Automatic promotion when SymPy values are passed
    • Verifying the Study condition
    • Conversion to transformation matrix
• Obtaining Rational Axes
• Recovering Rational Motions