libkine

A serial robot kinematics library.

Feature:

• DH Paramters
• Homogenous transformation matrix
• Screw theory
• Rigid body velocity / Jacobian
• 3D Visualization with using STL file

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).