RoKiSim-Revival

A comprehensive PySide6-based GUI application for controlling industrial robots through the RoKiSim simulator. This project provides real-time joint control, advanced motion planning, forward/inverse kinematics calculations, and an integrated robot programming environment.

Features

• Real-time Joint Control: Smooth interpolation between joint positions with adjustable speed control
• Forward Kinematics (FK): Calculate end-effector position and orientation from joint angles
• Inverse Kinematics (IK): Calculate joint angles from desired end-effector pose
• Robot Programming: Integrated compiler for a custom robot programming language
• Multiple Motion Types: Support for joint, linear, and circular interpolation
• Visual Feedback: Speed gauges for each joint and real-time FK display
• XML Robot Definitions: Load custom robot definitions with DH parameters and joint limits
• Cross-Platform: Works on Windows, macOS, and Linux

Installation

1. Clone the repository:

git clone https://github.com/Mostafasaad1/Rokisim-Revival.git
cd RoKiSim-Revival

2. Install the required dependencies:

pip install -r requirements.txt

Prerequisites

• Python 3.7 or higher
• RoKiSim simulator (separate installation)
• The following Python packages:
  • PySide6
  • NumPy
  • Pybotics
  • lxml

Usage

1. Start the RoKiSim simulator
2. Launch the application:

python joint_control_gui.py

3. Load a robot definition XML file using the "Load Robot XML" button
4. Control joints using sliders or direct value input
5. Use the FK section to view current end-effector position
6. Use the IK section to move to a specific pose
7. Write and compile programs in the Program Editor tab

Robot Programming Language

The integrated compiler supports a custom language with commands including:

• SETE: Define positions (e.g., SETE HOME, [0,0,0,0,0,0])
• MOVJ: Joint interpolation movement
• MOVL: Linear interpolation movement
• MOVC: Circular interpolation through a via point
• FOR/NEXT: Looping constructs
• IF/THEN: Conditional statements
• SET: Variable assignment

Example program:

SETE HOME, [0,0,0,0,0,0]
SETE P1, [10,20,30,40,50,60]
MOVJ HOME
MOVL P1
FOR i, 1, 3
  MOVJ P1
  MOVJ HOME
NEXT i

Project Structure

RoKiSim-Revival/
├── joint_control_gui.py    # Main GUI application
├── rokisim_sender.py       # Core communication module
├── kinematics.py           # FK and IK implementations
├── instructionSet.py       # Robot programming compiler
├── main.py                 # Quick test script
├── requirements.txt        # Python dependencies
└── README.md              # This file

XML Robot Definition Format

The application supports robot definition files in XML format:

<robot_dk name="TestRobot">
    <axis id="Joint1" alpha="0" a="0" theta="0" d="290" limsup="165" liminf="-165"/>
    <axis id="Joint2" alpha="-90" a="0" theta="0" d="0" limsup="110" liminf="-110"/>
    <!-- Additional joints -->
</robot_dk>

Troubleshooting

• Ensure RoKiSim is running before starting the application
• Verify the XML file format matches expected structure
• Check that all required Python dependencies are installed
• If experiencing connection issues, verify the IP and port settings in rokisim_sender.py

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

Acknowledgments

• RoKiSim for providing the robot simulation environment
• Pybotics for kinematics calculations
• Qt/PySide6 for the GUI framework