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genpark-forward-inverse-kinematics-dh-parameters-skill

mcp
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SUMMARY

Denavit-Hartenberg coordinate frame transforms, forward kinematics, and analytical inverse kinematics for robotic manipulators

README.md

Denavit-Hartenberg & Kinematics Engine Skill

High-performance forward and inverse kinematics solver for robotic manipulators using standard Denavit-Hartenberg (DH) parameters and analytical geometric kinematic solvers.

flowchart LR
    DH["DH Parameters (θ, d, a, α)"] --> Trans["4x4 Homogeneous Transform"]
    Trans --> FK["End-Effector Pose (x, y, z)"]
    Target["Target Position (x, y)"] --> IK["Analytical 2-Link IK"]
    IK --> JointAngles["Joint Angles (θ1, θ2)"]

Features

  • 100% Python Standard Library: Zero external dependencies.
  • Denavit-Hartenberg Parameters: Arbitrary N-DOF serial chain forward kinematics.
  • Analytical Planar IK: Closed-form 2-DOF elbow-up/down inverse kinematics.
  • MCP Server: Stdio JSON-RPC 2.0 integration for AI agents.

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