{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# Direct (Forward) Kinematics, Inverse Kinematics, and Trajectory Generation\n", "\n", "This Jupyter notebook serves as an example of using the package for direct (forward) kinematics, inverse kinematics, and trajectory generation for driving joint. Run it live on Binder platform clicking on the following badge: [![Binder](https://mybinder.org/badge_logo.svg)](https://mybinder.org/v2/gh/hucik14/rational-linkages/HEAD?labpath=docs%2Fsource%2Ftutorials%2Ftrajectory_planning.ipynb)\n", "\n", "Link to the source notebook: https://github.com/hucik14/rational-linkages/blob/main/docs/source/tutorials/trajectory_planning.ipynb\n" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:22.003558Z", "start_time": "2026-05-11T04:08:21.872788Z" } }, "source": [ "# in case of errors, make sure to have the latest version of the rational-linkages package installed (uncomment the following line and run the cell - it will install the package into your current environment)\n", "# !pip install --upgrade rational-linkages[opt]" ], "outputs": [], "execution_count": 1 }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:24.208153Z", "start_time": "2026-05-11T04:08:22.027684Z" } }, "source": [ "# initial import of the required libraries\n", "%matplotlib inline\n", "import numpy as np\n", "import matplotlib.pyplot as plt\n", "\n", "from rational_linkages import (RationalMechanism, Plotter, TransfMatrix, MotionInterpolation, PointHomogeneous)" ], "outputs": [], "execution_count": 2 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Synthesize Bennett mechanism for given poses. \n", "\n", "The poses are given as transformation matrices. They are using European convention - projective coordinates are on first line and translation vector is in the left column." ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:24.588066Z", "start_time": "2026-05-11T04:08:24.217654Z" } }, "source": [ "p0 = TransfMatrix()\n", "p1 = TransfMatrix.from_vectors(approach_z=[-0.0362862, 0.400074, 0.915764],\n", " normal_x=[0.988751, -0.118680, 0.0910266],\n", " origin=[0.033635718, 0.09436004, 0.03428654])\n", "p2 = TransfMatrix.from_vectors(approach_z=[-0.0463679, -0.445622, 0.894020],\n", " normal_x=[0.985161, 0.127655, 0.114724],\n", " origin=[-0.052857769, -0.04463076, -0.081766])\n", "poses = [p0, p1, p2]\n", "\n", "for pose in poses:\n", " print('Pose p' + str(poses.index(pose)) + ' as matrix:')\n", " print(pose)\n", " print('Pose p' + str(poses.index(pose)) + ' as dual quaternion:')\n", " print(pose.matrix2dq())\n", " print('')" ], "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Pose p0 as matrix:\n", "[[1., 0., 0., 0.],\n", " [0., 1., 0., 0.],\n", " [0., 0., 1., 0.],\n", " [0., 0., 0., 1.]]\n", "Pose p0 as dual quaternion:\n", "[1. 0. 0. 0. 0. 0. 0. 0.]\n", "\n", "Pose p1 as matrix:\n", "[[ 1. , 0. , 0. , 0. ],\n", " [ 0.033635718 , 0.9887513371, 0.1451003257, -0.0362862073],\n", " [ 0.09436004 , -0.1186800739, 0.9087660701, 0.4000740805],\n", " [ 0.03428654 , 0.0910265534, -0.3912673323, 0.9157641843]]\n", "Pose p1 as dual quaternion:\n", "[ 1. -0.20752242 -0.03338667 -0.06917412 -0.00625114 -0.01412658\n", " -0.04478577 -0.02637269]\n", "\n", "Pose p2 as matrix:\n", "[[ 1. , 0. , 0. , 0. ],\n", " [-0.052857769 , 0.9851611934, -0.1652496366, -0.0463678836],\n", " [-0.04463076 , 0.1276549492, 0.886073015 , -0.4456218419],\n", " [-0.081766 , 0.1147241778, 0.4330902558, 0.8940196829]]\n", "Pose p2 as dual quaternion:\n", "[ 1. 0.23337393 -0.04278385 0.07779146 -0.00839342 0.02991396\n", " 0.02980046 0.03454444]\n", "\n" ] } ], "execution_count": 3 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Construct curve C(t) from poses and factorize it to obtain Bennett mechanism" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:25.770912Z", "start_time": "2026-05-11T04:08:24.644248Z" } }, "source": [ "c = MotionInterpolation.interpolate(poses)\n", "m = RationalMechanism(c.factorize())\n", "\n", "print('C(t):')\n", "for el in m.symbolic:\n", " print(el)" ], "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "C(t):\n", "1.0*t**2 - 0.922574886391459*t + 0.225924553870895\n", "0.0527249009995822 - 0.115676757209998*t\n", "-0.000461911731624117*t - 0.00966592244448864\n", "0.0175750001919763 - 0.0385589465872888*t\n", "-0.00189628031924141\n", "0.00675829865504969 - 0.0110435917756025*t\n", "0.00673265674836427 - 0.0203184045107608*t\n", "0.00780443778676431 - 0.0158045843886699*t\n" ] } ], "execution_count": 4 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Inverse kinematics" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:26.216382Z", "start_time": "2026-05-11T04:08:25.780658Z" } }, "source": [ "theta1 = m.inverse_kinematics(p1)\n", "theta2 = m.inverse_kinematics(p2)\n", "print('Joint angle for pose 1 in rad:', theta1)\n", "print('Joint angle for pose 2 in rad:', theta2)" ], "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Joint angle for pose 1 in rad: 0.33082693881455877\n", "Joint angle for pose 2 in rad: 5.892802131407738\n" ] } ], "execution_count": 5 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Direct (forward) kinematics" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:26.290069Z", "start_time": "2026-05-11T04:08:26.234162Z" } }, "source": [ "pose1_as_dq = m.forward_kinematics(theta1)\n", "pose2_as_dq = m.forward_kinematics(theta2)\n", "\n", "pose1_as_matrix = pose1_as_dq.dq2matrix()\n", "pose2_as_matrix = pose2_as_dq.dq2matrix()\n", "\n", "print('Pose 1 as matrix:')\n", "print(pose1_as_matrix)\n", "print('Pose 2 as matrix:')\n", "print(pose2_as_matrix)\n" ], "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Pose 1 as matrix:\n", "[[ 1. 0. 0. 0. ]\n", " [ 0.03363572 0.98875134 0.14510033 -0.03628621]\n", " [ 0.09436004 -0.11868007 0.90876607 0.40007408]\n", " [ 0.03428654 0.09102655 -0.39126733 0.91576418]]\n", "Pose 2 as matrix:\n", "[[ 1. 0. 0. 0. ]\n", " [-0.05285777 0.98516119 -0.16524964 -0.04636788]\n", " [-0.04463076 0.12765495 0.88607302 -0.44562184]\n", " [-0.081766 0.11472418 0.43309026 0.89401968]]\n" ] } ], "execution_count": 6 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Simple comparision of input/output matrices" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:26.426484Z", "start_time": "2026-05-11T04:08:26.305504Z" } }, "source": [ "error_pose1 = np.linalg.norm(pose1_as_matrix - p1.array())\n", "error_pose2 = np.linalg.norm(pose2_as_matrix - p2.array())\n", "print('Error in direct kinematics for pose 1:', error_pose1)\n", "print('Error in direct kinematics for pose 2:', error_pose2)" ], "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Error in direct kinematics for pose 1: 5.161702277922196e-15\n", "Error in direct kinematics for pose 2: 6.072198263195411e-15\n" ] } ], "execution_count": 7 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Plot mechanism " ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:28.042199Z", "start_time": "2026-05-11T04:08:26.434419Z" } }, "source": [ "p = Plotter(jupyter_notebook=True, steps=500, arrows_length=0.05)\n", "p.plot(m.curve(), interval='closed')\n", "p.plot(p0, label='p0 (origin)')\n", "p.plot(p1, label='p1')\n", "p.plot(p2, label='p2')\n", "p.show()" ], "outputs": [ { "data": { "text/plain": [ "
" ], "image/png": "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" }, "metadata": {}, "output_type": "display_data", "jetTransient": { "display_id": null } } ], "execution_count": 8 }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:28.087829Z", "start_time": "2026-05-11T04:08:28.064108Z" } }, "source": [ "# if in script mode (not in Jupyter notebook), use the following line to display interactive plot\n", "\n", "# p = Plotter(mechanism=m, steps=500, arrows_length=0.05, joint_sliders_lim=0.1)\n", "# p.plot(p0, label='p0 (origin)')\n", "# p.plot(p1, label='p1')\n", "# p.plot(p2, label='p2')\n", "# p.show()\n", "\n", "# after calculating the joint angles, the mechanism can be animated using the following code\n", "# p.animate_angles(pos, sleep_time=0.5)" ], "outputs": [], "execution_count": 9 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Trajectory generation\n" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:28.104528Z", "start_time": "2026-05-11T04:08:28.091815Z" } }, "source": [ "total_time_of_motion = 4. # seconds\n", "frequency = 20 # Hz\n", "num_points = int(total_time_of_motion * frequency)" ], "outputs": [], "execution_count": 10 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Joint-space point-to-point trajectory (quintic polynomial scaling)" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:28.280635Z", "start_time": "2026-05-11T04:08:28.107529Z" } }, "source": [ "pos, vel, acc = m.traj_p2p_joint_space(joint_angle_start=theta1,\n", " joint_angle_end=theta2,\n", " time_sec=total_time_of_motion,\n", " num_points=num_points,\n", " generate_csv=False)\n", "\n", "%matplotlib inline\n", "plt.figure()\n", "plt.plot(pos)\n", "plt.plot(vel)\n", "plt.plot(acc)\n", "plt.xlabel('Time-step')\n", "plt.ylabel('Joint pos [rad], vel [rad/s], acc [rad/s^2]')\n", "plt.legend(['Pos (origin)', 'Vel (origin)', 'Acc (origin)'])\n", "plt.title('Smooth joint-space trajectory')\n", "plt.grid()\n", "plt.show()" ], "outputs": [ { "data": { "text/plain": [ "
" ], "image/png": "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" }, "metadata": {}, "output_type": "display_data", "jetTransient": { "display_id": null } } ], "execution_count": 11 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Smooth tool equidistant motion" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:29.583531Z", "start_time": "2026-05-11T04:08:28.282272Z" } }, "source": [ "pos_t, vel_t, acc_t = m.traj_smooth_tool(joint_angle_start=theta1,\n", " joint_angle_end=theta2,\n", " time_sec=total_time_of_motion,\n", " num_points=num_points,\n", " generate_csv=False)\n", "\n", "plt.figure()\n", "plt.plot(pos_t)\n", "plt.plot(vel_t)\n", "plt.plot(acc_t)\n", "plt.xlabel('Time-step')\n", "plt.ylabel('Joint pos [rad], vel [rad/s], acc [rad/s^2]')\n", "plt.legend(['Pos (origin)', 'Vel (origin)', 'Acc (origin)'])\n", "plt.title('Smooth tool motion trajectory')\n", "plt.grid()\n", "plt.show()" ], "outputs": [ { "data": { "text/plain": [ "
" ], "image/png": "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" }, "metadata": {}, "output_type": "display_data", "jetTransient": { "display_id": null } } ], "execution_count": 12 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Define a new TCP point that will be taken into account" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:30.347943Z", "start_time": "2026-05-11T04:08:29.612112Z" } }, "source": [ "\n", "t_new_tool = PointHomogeneous([1, 0, -0.17, 0])\n", "\n", "pos_t2, vel_t2, acc_t2 = m.traj_smooth_tool(joint_angle_start=theta1,\n", " joint_angle_end=theta2,\n", " time_sec=total_time_of_motion,\n", " point_of_interest=t_new_tool,\n", " num_points=num_points,\n", " generate_csv=False)\n", "\n", "plt.figure()\n", "plt.plot(pos_t2)\n", "plt.plot(vel_t2)\n", "plt.plot(acc_t2)\n", "plt.xlabel('Time-step')\n", "plt.ylabel('Joint pos [rad], vel [rad/s], acc [rad/s^2]')\n", "plt.legend(['Pos (origin)', 'Vel (origin)', 'Acc (origin)'])\n", "plt.title('Smooth tool motion trajectory with tool on side')\n", "plt.grid()\n", "plt.show()" ], "outputs": [ { "data": { "text/plain": [ "
" ], "image/png": "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" }, "metadata": {}, "output_type": "display_data", "jetTransient": { "display_id": null } } ], "execution_count": 13 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Comparison of all trajectories" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-05-11T04:08:31.014996Z", "start_time": "2026-05-11T04:08:30.364006Z" } }, "source": [ "plt.figure()\n", "plt.plot(pos_t, 'C0')\n", "plt.plot(vel_t, 'C1')\n", "plt.plot(acc_t, 'C2')\n", "plt.plot(pos_t2, 'C3', linestyle=':')\n", "plt.plot(vel_t2, 'C5', linestyle=':')\n", "plt.plot(acc_t2, 'C4', linestyle=':')\n", "plt.xlabel('Time-step')\n", "plt.ylabel('Joint pos [rad], vel [rad/s], acc [rad/s^2]')\n", "plt.title('Smooth tool motion trajectory')\n", "plt.legend(['Pos (origin)', 'Vel (origin)', 'Acc (origin)',\n", " 'Pos (tool on side)', 'Vel (tool on side)', 'Acc (tool on side)'])\n", "plt.grid()\n", "plt.show()" ], "outputs": [ { "data": { "text/plain": [ "
" ], "image/png": "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" }, "metadata": {}, "output_type": "display_data", "jetTransient": { "display_id": null } } ], "execution_count": 14 } ], "metadata": { "kernelspec": { "display_name": "rl2", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.11.11" } }, "nbformat": 4, "nbformat_minor": 2 }