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

Puma and Scara robot Multi-robots

Project Activity

See All Activity >

Categories

Robotics

Follow libkine

libkine Web Site

Other Useful Business Software
The All-in-One Commerce Platform for Businesses - Shopify Icon
The All-in-One Commerce Platform for Businesses - Shopify

Shopify offers plans for anyone that wants to sell products online and build an ecommerce store, small to mid-sized businesses as well as enterprise

Shopify is a leading all-in-one commerce platform that enables businesses to start, build, and grow their online and physical stores. It offers tools to create customized websites, manage inventory, process payments, and sell across multiple channels including online, in-person, wholesale, and global markets. The platform includes integrated marketing tools, analytics, and customer engagement features to help merchants reach and retain customers. Shopify supports thousands of third-party apps and offers developer-friendly APIs for custom solutions. With world-class checkout technology, Shopify powers over 150 million high-intent shoppers worldwide. Its reliable, scalable infrastructure ensures fast performance and seamless operations at any business size.
Learn More
Rate This Project
Login To 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
Report inappropriate content