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33 lines
1.2 KiB
Python
33 lines
1.2 KiB
Python
"""
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Inverse Kinematics for an n-link arm in 3D
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Author: Takayuki Murooka (takayuki5168)
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"""
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import math
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from NLinkArm import NLinkArm
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import random
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def random_val(min_val, max_val):
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return min_val + random.random() * (max_val - min_val)
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if __name__ == "__main__":
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print("Start solving Inverse Kinematics 10 times")
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# init NLinkArm with Denavit-Hartenberg parameters of PR2
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n_link_arm = NLinkArm([[0., -math.pi/2, .1, 0.],
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[math.pi/2, math.pi/2, 0., 0.],
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[0., -math.pi/2, 0., .4],
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[0., math.pi/2, 0., 0.],
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[0., -math.pi/2, 0., .321],
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[0., math.pi/2, 0., 0.],
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[0., 0., 0., 0.]])
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# execute IK 10 times
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for i in range(10):
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n_link_arm.inverse_kinematics([random_val(-0.5, 0.5),
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random_val(-0.5, 0.5),
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random_val(-0.5, 0.5),
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random_val(-0.5, 0.5),
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random_val(-0.5, 0.5),
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random_val(-0.5, 0.5)], plot=True)
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