A pure Python implementation of spatial transformations and homogeneous transformation matrices used in robotics, implemented entirely without external numerical libraries such as NumPy.
This project demonstrates the mathematical foundations of spatial transformations used in robotics through manual implementation of matrix operations.
Instead of relying on external libraries, every operation—including matrix multiplication, transpose, rotation matrices, and homogeneous transformation matrices—is implemented from scratch using only Python's standard library.
The project is designed for students, robotics enthusiasts, and engineers who want to understand how robot coordinate transformations work internally.
- Manual matrix multiplication implementation
- Matrix transpose implementation
- Degree-to-radian conversion
- Rotation matrices about X, Y, and Z axes
- Homogeneous transformation matrix construction
- Pure Python implementation (No NumPy)
- Educational robotics mathematics
- Well-documented functions
- Python
- Python Standard Library (
math) - Matrix Algebra
- Robotics Mathematics
- Homogeneous Transformations
robot-spatial-transformations-tool/
├── spatial_transformations_tool.py
├── demo.mp4
├── README.md
├── LICENSE
├── .gitignore
└── .gitattributes
A demonstration video of the implementation is included in this repository.
demo.mp4
Clone the repository
git clone https://github.com/sarinyash551-lgtm/robot-spatial-transformations-tool.gitMove into the project folder
cd robot-spatial-transformations-toolRun the Python script
python spatial_transformations_tool.py- Matrix Multiplication
- Matrix Transpose
- Rotation Matrices
- Coordinate Frames
- Coordinate Transformations
- Euler Rotations
- Homogeneous Coordinates
- Homogeneous Transformation Matrices
- 3×3 Rotation Matrices
- 4×4 Transformation Matrices
- Degree → Radian Conversion
- Matrix Multiplication
- Matrix Transpose
- Rotation about X-axis
- Rotation about Y-axis
- Rotation about Z-axis
- Homogeneous Transformation Matrix Construction
All mathematical operations are implemented manually without relying on external numerical libraries.
This project can be used for:
- Robotics
- Robot Kinematics
- Engineering Mathematics
- Computer Graphics
- Computer Vision
- Educational Demonstrations
- Coordinate Frame Analysis
- Forward Kinematics
- Denavit–Hartenberg (DH) Parameters
- Inverse Kinematics
- 3D Visualization
- Animation of Coordinate Frames
- Interactive GUI
- NumPy Optimized Version
Yash Sarin
GitHub: https://github.com/sarinyash551-lgtm
This project is licensed under the MIT License.