Panthera-HT SDK 是 Panthera-HT 六轴机械臂的官方软件开发工具包，提供完整的 C++ 和 Python 接口，用于电机控制、运动学、动力学和轨迹规划。
- 多语言支持：完整的 C++ 和 Python API
- 丰富的控制模式：位置、速度、力矩和混合控制
- 先进的运动学：正/逆运动学及完整雅可比矩阵支持
- 动力学建模：重力补偿、摩擦力补偿和完整动力学模型
- 轨迹规划：五次和七次多项式插值
- 主从控制：双臂遥操作和轨迹记录/回放
- 硬件支持：最多 7 路 CAN 总线，每条总线支持 30 个电机
Panthera-HT_SDK/
├── panthera_cpp/ # C++ SDK
├── panthera_python/ # Python SDK
├── LICENSE # MIT 许可证
└── README.md # 本文件
详细的安装说明请参考各语言目录下的 README：
- C++ SDK：参见 panthera_cpp/README.md 了解 C++ 依赖、构建说明和示例
- Python SDK：参见 panthera_python/README.md 了解 Python 依赖、安装和示例
| 仓库 | 许可证 | 说明 |
|---|---|---|
| Panthera-HT_Main | MIT | 主项目仓库，包含项目介绍、仓库链接和功能请求。 |
| Panthera-HT_Model | MIT | SolidWorks原始设计文件、钣金图、3D打印文件和物料清单（BOM）。 |
| Panthera-HT_SDK | MIT | Python SDK 开发包，提供快速上手的示例代码与开发工具链。 |
| Panthera-HT_ROS2 | MIT | ROS2 开发包，提供机械臂的驱动、控制与仿真支持。 |
| Panthera-HT_lerobot | MIT | LeRobot 集成包，支持模仿学习和机器人学习算法。 |
Warning
如果您基于此仓库构建或开发 Panthera-HT，您将对由此给您自己或他人造成的所有身体和精神损害负全部责任。
Caution
掉电请扶好机械臂，防止其跌落。
本项目采用 MIT 许可证。
欢迎贡献！请随时提交问题和拉取请求。
Panthera-HT SDK is the official software development kit for the Panthera-HT six-axis robotic arm, providing both C++ and Python interfaces for motor control, kinematics, dynamics, and trajectory planning.
- Multi-language Support: Complete C++ and Python APIs
- Rich Control Modes: Position, velocity, torque, and hybrid control
- Advanced Kinematics: Forward and inverse kinematics with full Jacobian support
- Dynamics Modeling: Gravity compensation, friction compensation, and full dynamics
- Trajectory Planning: Quintic and septic polynomial interpolation
- Master-Slave Control: Bilateral teleoperation and trajectory recording/playback
- Hardware Support: Up to 7 CAN buses, 30 motors per bus
Panthera-HT_SDK/
├── panthera_cpp/ # C++ SDK
├── panthera_python/ # Python SDK
├── LICENSE # MIT License
└── README.md # This file
For detailed installation instructions, please refer to the README in each language-specific directory:
- C++ SDK: See panthera_cpp/README.md for C++ dependencies, build instructions, and examples
- Python SDK: See panthera_python/README.md for Python dependencies, installation, and examples
| Repository | License | Description |
|---|---|---|
| Panthera-HT_Main | MIT | Main project repository with project introduction, repository links, and feature requests. |
| Panthera-HT_Model | MIT | SolidWorks original design files, sheet metal drawings, 3D printing files, and Bill of Materials (BOM). |
| Panthera-HT_SDK | MIT | Python SDK development package with quick-start example code and development toolchain. |
| Panthera-HT_ROS2 | MIT | ROS2 development package providing driver, control, and simulation support for the robotic arm. |
| Panthera-HT_lerobot | MIT | LeRobot integration package supporting imitation learning and robot learning algorithms. |
Warning
If you build or develop Panthera-HT based on this repository, you will be fully responsible for all physical and mental damages caused to you or others.
Caution
When power is lost, please support the robotic arm to prevent it from falling.
This project is licensed under the MIT License.
Contributions are welcome! Please feel free to submit issues and pull requests.