libkine

libkine
---

A serial robot kinematics library.

Feature:
---

* [x] DH Paramters
* [x] Homogenous transformation matrix
* [ ] Screw theory
* [ ] Rigid body velocity / Jacobian
* [x] 3D Visualization with using STL files

Dependencies:
---

1. VTK for visualization
2. Armadillo for matrix calculation
3. FLTK for the joint sider interface

How to Install:
---

1. Make sure you have git-lfs installed
2. Clone the repository: git clone git@github.com:auralius/libkine.git
3. Go to the directory of the cloned project, use git-lfs to get the binaries and the robot 3D models: git lfs checkout
4. Build the source using CMake
5. Create directory: mkdir build
6. Go inside build, type: cmake ..
7. Type: make
8. Run: ./demo1 or ./demo2 ../model/puma/puma.csv ../model/puma/puma.csv

---

Binaries and robot 3D models are stored with git-lfs (https://git-lfs.github.com).

Features

DH parameters
Homogenous transformation matrix
3D Visualization with using STL files
UDP communocation

Project Samples

Project Activity

See All Activity >

Follow libkine

libkine Web Site

Other Useful Business Software

Gen AI apps are built with MongoDB Atlas

The database for AI-powered applications.

MongoDB Atlas is the developer-friendly database used to build, scale, and run gen AI and LLM-powered apps—without needing a separate vector database. Atlas offers built-in vector search, global availability across 115+ regions, and flexible document modeling. Start building AI apps faster, all in one place.

Start Free

Rate This Project

User Reviews

Be the first to post a review of libkine!

Additional Project Details

User Interface

FLTK

Programming Language

C++

Related Categories

C++ Robotics Software

Registered

2016-10-04

Similar Business Software

Houzz Pro

Houzz Pro is the #1 construction management solution for residential contractors and designers. Get an all-in-one solution that spans the full customer lifecycle, including marketing, CRM, estimates, takeoffs, 3D floor plans, project management, selections, online invoicing & payments,...

See Software
Evocon

Trusted by manufacturers worldwide, Evocon is a simple and easy-to-use OEE software that helps manufacturing companies improve their production efficiency and reduce waste. The system enables automated data collection, real-time data visualization, downtime tracking, bottleneck identification,...

See Software
AutoCAD

Autodesk AutoCAD is the world’s leading 2D and 3D CAD software, trusted by millions of architects, engineers, and construction professionals. It provides precision tools to design, draft, and document complex projects across industries. The 2026 version introduces Autodesk AI, enabling automated...

See Software
Dronedesk

Are you wasting hours on drone flight planning? Still using spreadsheets, doc templates, and paper checklists? If so, it's time to switch to Dronedesk, the web-based drone operations management application that makes planning safe drone flights super-efficient. Dronedesk does all the...

See Software
Pylon

Create accurate proposals from anywhere in under 2 minutes using hi-res imagery, energy analysis and 3D shading tools in Pylon's intuitive design studio. Pylon is the only solar design software to give you high-resolution imagery in-app with no monthly fees. Identify dates of concern and track...

See Software
The Asset Guardian EAM (TAG)

Meet The Asset Guardian (TAG) Mobi – Tackle Downtime Now TAG Mobi is the solution for preventive maintenance and asset management (EAM) within Microsoft Dynamics 365 Business Central. It helps manufacturing teams reduce risk and minimize downtime by offering dependable, integrated asset...

See Software