(sec-module-robotics.future)= # Module: robotics.future The future module contains functionality which is currently under development and will be moved in other robotics libraries in future - **Date**: 2023-03-27 (sec-future-makecorkerobot)= ## Function: MakeCorkeRobot [`MakeCorkeRobot(robotDic)`](https://github.com/jgerstmayr/EXUDYN/blob/master/python/exudyn/robotics/future.py#L34) - **function description**: makeCorkeRobot, creates robot using the peter corke toolbox using standard (stdDH) or modified (modKKDH) Denavid Hartenberg parameters - **input**: - `robotDic`: robot dictionary by exudyn robotic models - `dhpara`: stDH for standard DH parameter, modKKDH for modified DH parameter - **output**: serial robot object by corke - **author**: Martin Sereinig - **notes**: DH Parameter Information: stdH = [theta, d, a, alpha] with Rz(theta) * Tz(d) * Tx(a) * Rx(alpha) modDH = [alpha, dx, theta, rz] with used by Corke and Lynch: Rx(alpha) * Tx(a) * Rz(theta) * Tz(d) used by Khali: Rx(alpha) * Tx(d) * Rz(theta) * Tz(r) Important note: d(khali)=a(corke) and r(khali)=d(corke) (sec-future-computeik3r)= ## Function: ComputeIK3R [`ComputeIK3R(robotDic, HT)`](https://github.com/jgerstmayr/EXUDYN/blob/master/python/exudyn/robotics/future.py#L87) - **function description**: calculates the analytical inverse kinematics for 3R elbow type serial robot manipulator - **input**: - `robotDic`: robot dictionary - `HT`: desired position and orientation for the end effector as 4x4 homogeneous transformation matrix as list of lists or np.array - **output**: solutions, list of lists with posible joint angles [q1,q2,q3] (in radiant) to achive the desired position (4 posible solutions,schoulder left/right, ellbow up/down ) in following order: left/down, left/up, right/up, right/down - **author**: Martin Sereinig - **notes**: only applicable for standard Denavit-Hartenberg parameters - **status**: testet with various configurations and joint angels (sec-future-computeikpuma560)= ## Function: ComputeIKPuma560 [`ComputeIKPuma560(robotDic, HT)`](https://github.com/jgerstmayr/EXUDYN/blob/master/python/exudyn/robotics/future.py#L163) - **function description**: calculates the analytical inverse kinematics for Puma560 serial 6R robotDic manipulator - **input**: - `robotDic`: robotDictionary - `HT`: desired position and orientation for the end effector as 4x4 homogeneous transformation matrix as list of lists or np.array - **output**: qSolutions, list of lists with posible joint angles [q1,q2,q3,q4,q5,q6] (in radiant) to achive the desired position and orientation (8 posible solutions,schoulder left/right, ellbow up/down, wrist flipped/notflipped (rotated by pi) ) left/down/notflipped, left/down/flipped, left/up/notflipped, left/up/flipped, right/up/notflipped, right/up/flipped, right/down/notflipped, right/down/flipped - **author**: Martin Sereinig - **notes**: Usage for different manipulators with sperical wrist posible, only applicable for standard Denavit-Hartenberg parameters - **status**: tested (compared with robotDiccs, Vision and Control book of P. Corke (sec-future-computeikur)= ## Function: ComputeIKUR [`ComputeIKUR(robotDic, HTdes)`](https://github.com/jgerstmayr/EXUDYN/blob/master/python/exudyn/robotics/future.py#L293) - **function description**: calculates the analytical inverse kinematics for UR type serial 6R robot manipulator without sperical wrist - **input**: - `robotDic`: robot dictionary - `HT`: desired position and orientation for the end effector as 4x4 homogeneous transformation matrix as list of lists or np.array - **output**: solutions, list of lists with posible joint angles [q1,q2,q3,q4,q5,q6] (in radiant) to achive the desired position and orientation (8 posible solutions,schoulder left/right, ellbow up/down, wrist flipped/notflipped (rotated by pi) ) [left/down/notflipped, left/down/flipped, left/up/notflipped, left/up/flipped, right/up/notflipped, right/up/flipped, right/down/notflipped, right/down/flipped] - **author**: Martin Sereinig - **notes**: Usage for different manipulators without sperical wrist posible UR3,UR5,UR10, only applicable for standard Denavit-Hartenberg parameters - **status**: under development, works for most configurations, singularities not checked -> ZeroConfiguration not working