Panthera-HT_S SDK 🚀

Panthera-HT_S SDK 是 Panthera-HT_S 六轴机械臂的软件开发工具包，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。

✨ 主要特性

• 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

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📁 仓库结构

Panthera-HT_S_SDK/
├── panthera_cpp/              # C++ SDK
├── panthera_python/           # Python SDK
├── LICENSE                    # MIT 许可证
└── README.md                  # 本文件

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📦 安装

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

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📖 文档

• C++ SDK 文档
• Python SDK 文档

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⚠️ 免责声明

Warning

如果您基于此仓库构建或开发 Panthera-HT_S，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。

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📝 许可证

本项目采用 MIT 许可证。

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🤝 贡献

欢迎贡献！请随时提交问题和拉取请求。

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Panthera-HT_S SDK is the software development kit for the Panthera-HT_S six-axis robotic arm, providing both C++ and Python interfaces for motor control, kinematics, dynamics, and trajectory planning.

✨ Key Features

• 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

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📁 Repository Structure

Panthera-HT_S_SDK/
├── panthera_cpp/              # C++ SDK
├── panthera_python/           # Python SDK
├── LICENSE                    # MIT License
└── README.md                  # This file

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📦 Installation

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

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📖 Documentation

• C++ SDK Documentation
• Python SDK Documentation

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⚠️ Disclaimer

Warning

If you build or develop Panthera-HT_S 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.

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📝 License

This project is licensed under the MIT License.

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🤝 Contributing

Contributions are welcome! Please feel free to submit issues and pull requests.