- 2-DOF Planar Manipulator Dynamics
- Analytical Mass Matrix (M(q))
- Differential Jacobian & Inverse Kinematics
- Python ODE Integration & Verification
ROBOTICS SOFTWARE / PYTHON DYNAMICS PIPELINE
Full Kinematic, Dynamic, and ODE Simulation Pipeline in Python
RRbot_py is an end-to-end Python robotics framework implementing kinematics, dynamics, cable actuation models, and numerical ordinary differential equation (ODE) solvers for a 2-DOF planar robotic manipulator. Each physical phenomenon is modularized into testable Python routines with comprehensive integration test coverage.
Forward & inverse kinematics (invKIN.py)
Solves joint angles [θ1, θ2] given desired Cartesian coordinates (x, y), handling workspace reachability limits and elbow-up / elbow-down configuration branching.
Analytical inertia matrix (Mass_matrix.py)
Computes the configuration-dependent multi-body mass matrix M(q), Coriolis/centrifugal matrix C(q, q̇), and gravity loading vector G(q) derived from rigid body Lagrange mechanics.
Jacobian mapping & task space (jak.py)
Calculates the geometric Jacobian mapping joint velocities [θ̇1, θ̇2] to end-effector velocity vectors, evaluating manipulability and velocity singularities.
ODE simulation & cable forces (RRode.py)
Integrates equations of motion forward in time via SciPy ODE integrators. Simulates antagonistic cable tension constraints (cables.py) and perpendicular stabilization control (controle_perp.py).
Framework Architecture & Modules
- Manipulator Type
- 2-DOF serial planar revolute arm with antagonistic cable actuation
- Kinematic Modules
- invKIN.py (inverse kinematics), TETA.py (trajectory planning)
- Dynamic Modules
- Mass_matrix.py (inertia matrix M(q)), jak.py (Jacobian matrix J(q))
- Control & Actuation
- cables.py (cable force limits), controle_perp.py (perpendicular control)
- Solver Engine
- RRode.py (ODE numerical integration loop with state feedback)
- Test Coverage
- FULL_inegration_test.py, Mass_matrix_test_.py, invKIN_test_1.py
Systems & Robotics Engineering Impact
Demonstrates modular software engineering principles applied to robotics, ensuring dynamic consistency, numerical stability, and verifiable unit test coverage across every kinematic subsystem.