8000 add README files to help users create models · navrobot/robotics-toolbox-python@fe0b2d1 · GitHub
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add README files to help users create models
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‎roboticstoolbox/models/DH/README.md

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# Creating a new robot model using Denavit-Hartenberg parameters
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# Denavit-Hartenberg models
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## Shipped robot models
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| Model name | Description |
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| --- | --- |
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| Ball | an n-link robot that folds into a ball shape |
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| Cobra600 | 4-axis Adept (now OMRON) SCARA robot |
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| IRB140 | 6-axis ABB robot |
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| KR5 | 6-axis Kuka robot |
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| Panda | 7-axis Franka-Emika robot |
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| Puma | 6-axis Unimation robot (with dynamics data) |
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| Stanford | 6-axis Stanford resarch robot, 1 prismatic joint (with dynamics data) |
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| Threelink | ?? |
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## Creating a new robot model using Denavit-Hartenberg parameters
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To begin, you must know:
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3. The joint structure, does it have revolute, prismatic joints or both.
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## Write the definition
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### Write the definition
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Create a file called `MYROBOT.py` where `MYROBOT` is a descriptive name of your
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robot that is a valid filename and Python class name.
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joint angles.
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## Adding your model to the Toolbox
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### Adding your model to the Toolbox
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Edit the file `__init__.py` in this folder. Add a line like:
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and then add `'MYROBOT'` to the list that defines `__all__`.
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## Testing
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### Testing
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Now to test your class
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print(myrobot.MYCONFIG) # check that the joint configuration works
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```
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## Next steps
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### Next steps
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You can now use the power of the Toolbox to compute forward and inverse
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kinematics, display a graphical model, and interactively teach the robot.
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If you defined dynamic parameters then you can compute forward and inverse
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rigid-body dyamics and simulate the response of the robot to applied torques.
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Good luck and enjoy!
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Good luck and enjoy!
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### Contribute your model
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If you think your model might be interesting to others consider submitting a pull request.

‎roboticstoolbox/models/README.md

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There are three types of model supported by the Toolbox, and all are subclasses of the abstract `Robot` superclass.
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* [Denavit-Hartenberg (DH) models](roboticstoolbox/models/DH). These are defined using standard or modified DH parameters, with optional 3D meshes for visualisation and optional dynamic parameters.
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* [ETS models](roboticstoolbox/models/ETS). There are defined using a sequence of elementary transformations (rotation and translations), and is a quick and intuitive way to describe a robot, see [this article](https://petercorke.com/robotics/a-simple-and-systematic-approach-to-assigning-denavit-hartenberg-parameters/).
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* [URDF models](roboticstoolbox/models/URDF). These models are defined by a Unified Robot Description Format file, an XML format file. Models exist for the classic Puma560 robot as well as the Franka-Emika Panda, the Universal robotics range and all the Interbotix hobby-class robots.
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In each folder you will find a README describing how to create your own model.
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If you think your model might be interesting to others consider submitting a pull request.

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