Tag Archives: FK

Symbolic manipulator FK and Jacobian in Java

Today I’m posting my Java code for getting the symbolic forward kinematics (FK) and Jacobian for an arbitrary serial manipulator.
As symbolic computation libraries are sparse in Java, I’m invoking Python from the terminal and retrevies the output using I/O streams. As such, Python needs to present on the system.
The Python code is embedded in the Java code as a String.

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