Kinematics Analysis

This repository contains a comprehensive set of Jupyter notebooks focused on kinematics analysis, providing insights into various mechanical and robotic systems. Each notebook highlights specific concepts and computational techniques with automated testing and deployment.

📁 Project Structure

kinematics-analysis/
├── notebooks/                 # Jupyter notebooks
│   ├── Foldable-Kinematics.ipynb
│   ├── Fourbar_Kinematics.ipynb
│   └── Robot-Kinematics.ipynb
├── src/                      # Source code utilities
├── tests/                    # Test suite
├── assets/                   # Generated animations and assets
├── docs/                     # Documentation
├── .github/workflows/        # GitHub Actions CI/CD
├── requirements.txt          # Python dependencies
├── Makefile                  # Build automation
└── README.md

📚 Notebooks Overview

Foldable Kinematics

• Enhanced with Animation: Now includes automated GIF generation showing robot movement
• Google Colab Compatible: Can be run directly in Google Colab
• Focuses on foldable mechanisms and their kinematic behavior
• Provides solutions to assignment-based problems on foldable linkages
• Includes step-by-step breakdown of kinematic equations
• Demonstrates analysis and modeling of folding mechanisms through practical examples
• Incorporates quaternions to represent and compute rotations efficiently

Fourbar Kinematics

• Explores the kinematics of a four-bar linkage system
• Discusses the derivation of the Jacobian matrix
• Analyzes the relationship between joint torques and external forces using τ = J^T F
• Features detailed computations and visualizations

Robot Kinematics

• Delves into the kinematics of robotic systems
• Covers forward and inverse kinematics for robotic arms
• Examines transformations, joint space, and workspace analysis
• Utilizes practical examples to illustrate robotic motion and control strategies
• Employs quaternions for rotation representation, avoiding gimbal lock

🚀 Quick Start

Prerequisites

• Python 3.8 or higher
• pip package manager

Installation

1. Clone the repository

   git clone https://github.com/pranaypalem/kinematics-analysis.git
   cd kinematics-analysis

2. Install dependencies

   make install
   # or manually: pip install -r requirements.txt

3. Run notebooks

   jupyter lab notebooks/

🛠️ Development

Available Make Commands

make help          # Show available targets
make install       # Install dependencies
make test          # Run tests
make lint          # Run code linting
make format        # Format code
make notebooks     # Execute all notebooks
make animations    # Generate animation GIFs
make clean         # Clean temporary files
make build         # Run complete build pipeline
make all           # Run everything

Building and Testing

# Run the complete build pipeline
make build

# Or run individual steps
make install
make test
make notebooks
make animations

🎬 Animation Features

The Foldable Kinematics notebook now includes:

• Automated GIF Generation: Creates smooth animations of robot movement
• Configurable Parameters: Adjust animation speed, range, and quality
• Google Colab Support: Works seamlessly in cloud environments
• Asset Management: Generated animations are saved to assets/ directory

🧪 Testing

The project includes comprehensive testing:

# Run all tests
make test

# Tests include:
# - Notebook execution verification
# - Code quality checks
# - Dependency verification

🚀 Continuous Integration

This project uses GitHub Actions for automated testing and deployment:

• Multi-Python Testing: Tests on Python 3.8, 3.9, 3.10, 3.11
• Automated Builds: Every push and pull request triggers CI
• Notebook Execution: Verifies all notebooks run without errors
• Animation Generation: Automatically creates and uploads animations
• Artifact Storage: Generated assets are preserved for 30 days

CI Badge Status

The CI badge at the top shows the current build status. Green means all tests pass!

📦 Deployment

Local Development

# Setup development environment
python -m venv venv
source venv/bin/activate  # On Windows: venv\Scripts\activate
make install

Google Colab

All notebooks are Google Colab compatible. Simply:

1. Upload the notebook to Colab
2. Run the first cell to install dependencies
3. Execute normally

GitHub Actions

Deployment happens automatically:

• Push to main or develop branches triggers CI
• Pull requests are automatically tested
• Successful builds generate and store animations

🤝 Contributing

1. Fork the repository
2. Create a feature branch
3. Make your changes
4. Run make build to ensure everything works
5. Submit a pull request

📄 License

This project is open source and available under the MIT License.

👨‍💻 Author

Pranay Palem

• GitHub: @pranaypalem
• Academic work showcasing kinematics analysis research

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Explore the fascinating world of kinematics with automated testing and beautiful animations! 🤖✨