Researching and visualizing cuspidal robots. This code was used to generate animations and figures in the Medium blogs Why hasn't anyone heard of Cuspidal robots? and Cuspidal Robots: A True Double-edged Sword.
python3 -m pip install .Modify the execute_path script:
- Pick a kinematics model from arm_ik or make your own by specifying DH parameters. Currently only 3DOF arms are supported
- Pick a visualizer, either Maya or Matplotlib. Maya will display the singularity surfaces in 3D, Matplotlib will show separate figures with a 2D version of the singularity surfaces.
- Show a posture, a set of IK solutions, or display a path by uncommenting the relevant section.
- Run it:
python3 scripts/execute_path.py