Inverse Kinematics

147 views
Skip to first unread message

JOSE FRANCISCO VILLA TIBURCIO

unread,
Jan 14, 2020, 7:40:41 PM1/14/20
to Thor: OpenSource 3D printable Robotic Arm
Hello, what is the code used in Sympy to calculate the inverse kinematics fo the thor robot.
I was hoping if anyone has the code please.

Angel LM

unread,
Jan 21, 2020, 12:58:58 PM1/21/20
to Thor: OpenSource 3D printable Robotic Arm
Hi Jose,

I have done the calculations for the Forward Kinematics using SymPy, but not for the Inverse.

Here is the code I used for the FK calculus, it may be helpful!

Best regards,
Ángel L.M.

JOSE FRANCISCO VILLA TIBURCIO

unread,
Jan 29, 2020, 6:38:38 PM1/29/20
to Thor: OpenSource 3D printable Robotic Arm
Thank you Angel by the information, it helped me a lot. 

I have a nother cuestion, you will have a link to dowload the robot assembly (CAD)?, because I would like to do a simulation.

Greetings!!!

Angel LM

unread,
Jan 30, 2020, 2:43:17 PM1/30/20
to Thor: OpenSource 3D printable Robotic Arm
Sure Jose,

Inside the folder "freecad-src" at Thor's Github you can find the ThorAssembly.fcstd file it is in FreeCAD format, but is easy to export the parts you need to other format (stp, stl, etc...)

Hope it helps!
Ángel
Reply all
Reply to author
Forward
0 new messages