Welcome to moro’s documentation!

Moro is a Python library for kinematic and dynamic modeling of serial robots. This library has been designed, mainly, for teaching purposes, using SymPy as base library.

Contents:

• Installation
• Examples
• The core module
  • RigidBody2D
  • Robot
• The transformations module
  • axa2rot()
  • dh()
  • eul2rot()
  • htmrot()
  • htmtra()
  • rot()
  • rot2axa()
  • rot2eul()
  • rotx()
  • roty()
  • rotz()
  • skew()
• The util module
  • deg2rad()
  • is_SE3()
  • is_SO3()
  • is_position_vector()
  • ishtm()
  • isorthonormal()
  • isrot()
  • issympyobject()
  • pprint()
  • rad2deg()
  • sympy2float()
  • sympy_matrix_to_numpy_float()
  • vector_in_hcoords()

Indices and tables

• Index

• Module Index

• Search Page