kinematics-js

1.0.8 • Public • Published

Kinematics.js

A forward and inverse kinematics package for a basic 6 axis robotic arm.

Robot Move

Robot Euler

Inverse

import { inverse } from 'kinematics-js';

inverse(5, 0, 11, 0, 0, 0, {
  base: 1,
  v1: 2.5,
  v2: 3,
  v3: 2.5,
  v4: 2.5,
  v5: 2.5,
  v6: 2,
});
Parameter Description
x x cartesian coordinate in the three dimensional space relative to the base frame
y y cartesian coordinate in the three dimensional space relative to the base frame
z z cartesian coordinate in the three dimensional space relative to the base frame
r1 euler angle 1, the rotation around the z1 axis of the end effector
r2 euler angle 2, the rotation around the x axis of the end effector
r3 euler angle 3, the rotation around the z2 axis of the end effector
config robot configuration see table below
Key required Description
base no height of the base
v1 yes length between joint 1 and 2
v2 yes length between joint 2 and 3
v3 yes length between joint 3 and 4
v4 yes length between joint 4 and 5
v5 yes length between joint 5 and 6
v6 yes length between joint 6 and the end effector

Examples:

// First define a config for the robot
const config == {
  v1: 2.5,
  v2: 3,
  v3: 2.5,
  v4: 2.5,
  v5: 2.5,
  v6: 2,
};

/**
 *     |
 *    [ ]
 *     |
 *    ( )
 *     |
 *    [ ]
 *     |
 *    ( )
 *     |
 *    ( )
 *     |
 *    [ ]
 */
inverse(0, 0, 15, 0, 0, 0, config)
// ==> [0, 0, 0, 0, 0, 0]

/**
 *                  [ ]
 *                   |
 *    ( ) -- [ ] -- ( )
 *     |
 *    ( )
 *     |
 *    [ ]
 */
inverse(5, 0, 10, 0, 0, 0, config)
// ==> [0, 0, -Math.PI / 2, 0, Math.PI / 2, 0 ]

/**
 *                  [ ]
 *                   |
 *    ( ) -- [ ] -- ( )
 *     |
 *    ( )
 *     |
 *    [ ]
 */
inverse(5, 0, 11, 0, 0, 0, { ...config, base: 1 })
// ==> [0, 0, -Math.PI / 2, 0, Math.PI / 2, 0 ]

Forward

import { forward } from 'kinematics-js';

forward(0, 0, -Math.PI / 2, Math.PI, -Math.PI / 2, 0, {
  v1: 2.5,
  v2: 3,
  v3: 2.5,
  v4: 2.5,
  v5: 2.5,
  v6: 2,
});
// ==>
// [-1, 0, 0, 5],
// [0, -1, 0, 0],
// [0, 0, 1, 10],
// [0, 0, 0, 1],
//
// The return value gives you the rotation matrix and also the cartesian location which you can get below
// const x = res[0][3];
// const y = res[1][3];
// const z = res[2][3];
Parameter Description
theta1 angle of joint j1 in radians
theta2 angle of joint j2 in radians
theta3 angle of joint j3 in radians
theta4 angle of joint j4 in radians
theta5 angle of joint j5 in radians
theta6 angle of joint j6 in radians
config robot configuration see table below
Key required Description
base no height of the base
v1 yes length between joint 1 and 2
v2 yes length between joint 2 and 3
v3 yes length between joint 3 and 4
v4 yes length between joint 4 and 5
v5 yes length between joint 5 and 6
v6 yes length between joint 6 and the end effector

Live Demo

See the kinematics in action here

Robot Move

Kinematics Diagram

Kinematics Diagram

Package Sidebar

Install

npm i kinematics-js

Weekly Downloads

10

Version

1.0.8

License

ISC

Unpacked Size

76.3 kB

Total Files

28

Last publish

Collaborators

  • joepuzzo