Class Kinematics

java.lang.Object

org.episteme.natural.engineering.robotics.Kinematics

public class Kinematics
extends Object

Robotics kinematics calculations. Modernized to use high-precision Real matrices and typed Quantities.

Since:

1.0

Author:

Silvere Martin-Michiellot, Gemini AI (Google DeepMind)

Method Summary

Modifier and Type	Method	Description
static Matrix<Real>	dhMatrix(Quantity<Angle> theta, Quantity<Length> d, Quantity<Length> a, Quantity<Angle> alpha)	Denavit-Hartenberg transformation matrix.
static Vector<Real>	forwardKinematics2Link(Quantity<Length> L1, Quantity<Length> L2, Quantity<Angle> theta1, Quantity<Angle> theta2)	2D forward kinematics for 2-link planar arm.
static Vector<Real>	getPosition(Matrix<Real> T)	Extracts position vector from a 4x4 transformation matrix.
static Matrix<Real>	jacobian2Link(Quantity<Length> L1, Quantity<Length> L2, Quantity<Angle> theta1, Quantity<Angle> theta2)	Jacobian for 2-link planar arm (velocity kinematics).

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

forwardKinematics2Link

public static Vector<Real> forwardKinematics2Link(Quantity<Length> L1,
 Quantity<Length> L2,
 Quantity<Angle> theta1,
 Quantity<Angle> theta2)

2D forward kinematics for 2-link planar arm. Returns the end-effector position (x, y).

dhMatrix

public static Matrix<Real> dhMatrix(Quantity<Angle> theta,
 Quantity<Length> d,
 Quantity<Length> a,
 Quantity<Angle> alpha)

Denavit-Hartenberg transformation matrix. T = Rz(θ) * Tz(d) * Tx(a) * Rx(α)

getPosition

public static Vector<Real> getPosition(Matrix<Real> T)

Extracts position vector from a 4x4 transformation matrix.

jacobian2Link

public static Matrix<Real> jacobian2Link(Quantity<Length> L1,
 Quantity<Length> L2,
 Quantity<Angle> theta1,
 Quantity<Angle> theta2)

Jacobian for 2-link planar arm (velocity kinematics).