IK_FK_ABB_IRB_4600_40_255_ROBOTICS-PROJECT

📌 Project Summary

This project focuses on simulating and analyzing the motion of the ABB IRB 4600-40/255 robot using CoppeliaSim and Python. It involves implementing:

• Forward Kinematics (FK) to compute the robot’s end-effector position.
• Inverse Kinematics (IK) to determine the required joint angles for a given position.
• Trajectory generation using interpolation methods.

The robot was successfully programmed to trace a trajectory in the shape of "201147". The final drawing was achieved with high accuracy, demonstrating the effectiveness of the FK and IK algorithms along with the interpolation method.

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📌 ZeroMQ Remote API

The ZeroMQ remote API is one of the available methods for external applications to communicate with CoppeliaSim. It allows external programs (e.g., real robots or remote computers) to control the simulator.

🔗 ZeroMQ Remote API Documentation

Features of ZeroMQ Remote API:

• Supports controlling the simulation and CoppeliaSim itself from an external application.
• Provides access to all API functions available in a CoppeliaSim script (e.g., sim.*, simIK.*, simOMPL.*, etc.).
• Allows multiple external applications to interact with CoppeliaSim either synchronously (step-by-step) or asynchronously (free-running).
• Supports remote control of the simulator (e.g., loading a scene, starting, pausing, or stopping a simulation).

🔧 Install the Client Package:

To use the ZeroMQ remote API with Python, install the required package:

$ python3 -m pip install coppeliasim-zmqremoteapi-client

Note: The ZeroMQ and CBOR dependencies will be installed automatically.

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📌 Key Components

1️⃣ Robot Model and DH Table

• The Denavit-Hartenberg (DH) parameters were recalculated based on the actual dimensions of the robot in CoppeliaSim.

2️⃣ Kinematics Calculations

🔹 Forward Kinematics (FK)

• Implemented FK to compute the end-effector position based on joint angles.

🔹 Inverse Kinematics (IK)

• Developed an IK function to compute joint angles for a given end-effector position.

3️⃣ Trajectory Implementation

• Defined task space points for the robot.
• Used linear interpolation to generate a smooth trajectory.

4️⃣ Drawing Implementation

• Added a drawing surface in the simulation environment.
• Attached a pen to the robot to draw predefined paths.

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📌 Results

✅ The robot successfully traced the required "201147" trajectory.
✅ The final drawing was highly accurate, confirming the correctness of the FK and IK algorithms and the interpolation method.

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📌 Requirements

Ensure you have the following dependencies installed before running the project:

✅ CoppeliaSim
✅ Python 3
✅ NumPy & Matplotlib libraries
✅ coppeliasim-zmqremoteapi-client (for ZeroMQ API)

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📌 Usage

🔧 Running the Simulation:

1. Open CoppeliaSim and load the robot scene.
2. Run the ZeroMQ Remote API server in CoppeliaSim.
3. Observe the robot's motion and drawing output.

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📌 License

This project is for educational purposes and can be freely modified or shared.

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