ikpy
A pure-Python inverse kinematics library for computing robot joint positions from end-effector poses.
What is ikpy?
IKPy is a Python library for solving inverse kinematics problems, which involve calculating the joint angles of a robotic arm to achieve a desired end-effector position and orientation. It supports various robot representations like DH parameters and URDF files, enabling precise and fast computations without requiring physical hardware. The library is designed to be universal, working with any kinematic chain and offering visualization tools for simulation and testing.
Robotics researchers, engineers, and developers working on motion planning, simulation, or control systems for robotic arms and manipulators. It is also suitable for educators and students learning about inverse kinematics and robotic modeling.
Developers choose IKPy for its pure-Python implementation, which ensures easy installation and cross-platform compatibility without compilation. Its extensibility, support for multiple robot representations, and built-in visualization tools make it a versatile and accessible choice for both prototyping and advanced robotic applications.
Overview
IKPy, an Universal Inverse Kinematics library
Use Cases
Best For
- Simulating and testing inverse kinematics algorithms without physical robots
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