Julia implementation of the Modern Robotics textbook algorithms (kinematics, dynamics, trajectory generation, control)
Screw Theory for Robotics; Coserrat's theory; Soft Robotics; Paden-Kahan Subproblems et cetera.
Kinematics and dynamics solvers and controllers.
Fundamentals of Robotics: Practical Case Studies with Matlab & Python" is a comprehensive guide authored by Hamid D. Taghirad, designed for students, researchers, and practitioners in the field of robotics. The book combines theoretical foundations with practical applications, providing illustrative examples and case studies.
Calculate invariant trajectory representations from trajectory data and generate new trajectories from the invariants.
Python/Jupyter toolkit for robotic screw theory, PoE kinematics, Jacobians, and inverse kinematics.
ROS Navigation Stack for Differential Drive Robot
Automated URDF-to-Modern-Robotics dynamics pipeline for extracting screw axes, spatial inertias, gravity vectors, inverse dynamics, and forward dynamics validation across UR5, SCARA, and custom manipulators.
CP 214 Foundations of Robotics, IISc
A tiny ROS 2 utility that converts a URDF/Xacro robot model into a Screw List for PoEs-based robot kinematics.
Python library for SU-decomposition and related numerical algorithms.
Numerical inverse kinematics for a UR5 manipulator (Newton-Raphson, body frame) with CoppeliaSim integration.
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