Rebartek

PUMA 560 - Achilleas Version

Overview

This project provides a Python implementation for working with the PUMA 560 robotic arm. It includes features for calculating forward and inverse kinematics, visualizing Denavit-Hartenberg (D-H) coordinate frames, and running a simple path planning algorithm.

Instructions

1. Open the rebartek.py file using Visual Studio (VS) or your preferred Python IDE.
2. Install all required libraries:

   pip install -r requirements.txt

3. Run the script:

   python rebartek.py

4. Follow the on-screen prompts to:
   • Compute forward or inverse kinematics
   • View Denavit-Hartenberg coordinate frames
   • Execute the path planning algorithm

Requirements

• Python 3.x
• Libraries:
  • numpy
  • matplotlib

You can install all dependencies using the provided requirements.txt file.

Example

After running the script, you will be guided through a series of options, like choosing to perform forward kinematics or visualizing the robot's coordinate frames.

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Feel free to contribute or suggest improvements!