Robot Arm Term Project (ROB-6003)

This Python script implements a 6-DOF robotic arm with forward/inverse kinematics and interactive visualization capabilities.

Requirements

Download the required dependencies:**

• NumPy
• Matplotlib
• Robotics Toolbox (RTB)

pip install -r requirements.txt

Usage

Use Python to run the program:

python3 python_robot_arm.py

You'll be prompted to enter the desired end effector state values in meters and degrees separated by spaces:

----------------------- Inverse Kinematic Solver -----------------------
Enter the desired end effector state (meters/degrees values separated by spaces: 'x y z alpha beta gamma'):
0.2 0.2 0.4 90 0 45

If the entered desired state is valid the calculated robot configuration will be displayed in the figure.

At any point you are able to manually set joint variables through the GUI:

• Use the textboxes or the sliders to set the desired joint variables (in degrees)
• Click the reset button to bring back the robot to its home configuration
• Click Draw Workspace to see a simulation of the robot workspace

Class Usage

from python_robot_arm import RobotArm

# Create robot instance
robot = RobotArm()

# Setup visualization
robot.setup_visualization()

# Forward kinematics example
joint_variables = [0, 0, 0, 0, 0, 0]  # in radians
end_effector_state = robot.forward_kinematics(joint_variables, print=True)

# Inverse kinematics example
target_pose = [0.3, 0.2, 0.1, 0, 0, 0]  # [x, y, z, alpha, beta, gamma]
joint_variables = robot.inverse_kinematics(target_pose)

#Display results
robot.set_joint_variables(joint_variables)

Documentation

Companion derivations to understand the inverse kinematic algorithm

Inverse Kinematic derivations