trucos para parámetros DH en ejemplo de código de robótica

Este dilema se puede resolver de diferentes maneras, por lo tanto te mostramos la que para nosotros es la respuesta más completa.

Ejemplo: escribir un programa para cinemática directa y cinemática inversa de robot

import math

ch = input("Enter '0' for  Forward Kinematics and '1' for Inverse Kinematics ")
if ch == "0":
    print('''Forward Kinematics
          through this program you'll be able to solve a FK problem
          which means given the values of joint angle and joint parameters,the position of the end effector
          can be defined it's like finding the position in a universal frame i.e called the coordinates of end-effector''')
    l1 = float(input("enter the length of link 1 "))
    l2 = float(input("enter the length of link 2 "))
    t1 = float(input("enter the value of theta 1 in degrees  "))
    t2 = float(input("enter the value of theta 2 in degrees  "))
    x = (l1 * math.cos(math.radians(t1))) + (l2 * math.cos(math.radians(t1 + t2)))
    y = (l1 * math.sin(math.radians(t1))) + (l2 * math.sin(math.radians(t1 + t2)))
    print("the x coordinate is ", x)
    print("the y coordinate is ", y)

### inverse kinematic begins from here
elif ch == "1":
    print('''Inverse Kinematics
          In this method we find the value of joint angles for a given joint parameters.
          According me this is what a most robots in sci-fi movies do they take inputs
          such as coordinate of final position of end-effector(or imagine the robot from movie big hero 6
                                                               if it has to move its hand it will use this method *not as simple as it sounds!) *_
          ''')
    l1 = float(input("enter the length of link 1 "))
    l2 = float(input("enter the length of link 2 "))
    w = float(input('enter the x-coordinates of end-effector'))
    v = float(input('enter the y-coordinates of end-effector'))
    a2 = math.degrees(math.cos(((w * w) + (v * v) - (l1 * l1) - (l2 * l2)) / (2 * l1 * l2)))
    a1 = math.degrees((math.atan(v / w)) - (
        math.atan((l2 * math.sin(math.radians(a2))) / ((l1) + (l2 * (math.cos(math.radians(a2))))))))
    print("theta 1 is ", a1)
    print("theta 2 is ", a2)
else:
    print("Enter a valid option")

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