moro

Getting Started

  • Overview
  • Installation
  • Quick Start

User Guide

  • Robot Modeling
  • Transformations
  • Forward Kinematics
  • Jacobians
  • Inverse Kinematics
  • Trajectory Generation
  • Dynamics
  • Workspace Sampling
  • Visualization

Examples

  • Planar 2R Manipulator
  • Anthropomorphic RRR Manipulator
  • Position Inverse Kinematics
  • Full-Pose Inverse Kinematics
  • Polynomial Trajectory Generation
  • Cartesian Trajectory with Inverse Kinematics
  • Velocity inverse kinematics for a planar 2R robot
  • Singularity and manipulability analysis
  • Dynamic Model of a Planar 2R Manipulator
  • Numerical Dynamics and Simulation
  • Workspace Sampling

API Reference

  • API Reference

Theory

  • Mathematical notation and conventions
  • Rotations
  • Homogeneous transformations
  • Denavit–Hartenberg convention
  • Forward kinematics
  • Differential kinematics
  • Inverse kinematics
  • Trajectory Generation
  • Dynamics
  • Sampled Workspace Analysis

Release Notes

  • Moro 0.5.0 Release Notes

Development

  • Contributing
  • Moro Naming Conventions
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