Gelendwvwvwvein / Robots_control_system_prototype

The project implements a prototype of a functionally universal robot manipulator control system in the Webots. The management system accepts tasks in natural language.

Robots_control_system_prototype

The project implements a prototype of a functionally universal robot manipulator control system in the Webots. The management system accepts tasks in natural language from Telegram-bot. The project was implemented using the IRB 4600-40\2.55 robot.

The system is developed using Ubuntu 22.04, Python 3.10.12, Webots version R2023b, and LibreOffice Calc.

Visualization of the system operation

Initialization

Install all necessary dependencies with the commands:

pip install requests==2.31.0 telebot==0.0.5 ezodf==0.3.2 google-generativeai==0.6.0

pip install --upgrade ikpy

Next, to get the Gemini API key, you need to create a project on the platform Google AI Syudio.

If Google AI Studio is not available in your region, use a VPN (for example, a US VPN) when working with this project.

The resulting API must be inserted into the file 'Control_system/main.py' in line 77 and 104.

Using the Telegram-bot @BotFather, you need to create a bot in order to transfer tasks for the robot to the control system. The resulting API must be inserted into the file 'Control_system/auth_data.py '.

Launch

1. Run LibreOffice Calc in headless mode with the command:

libreoffice --headless --accept="socket,host=localhost,port=2002;urp;" --nofirststartwizard

2. Run the script 'Control_system/main.py' (enable VPN if necessary).

3. Send a command formulated in natural language to the bot.

4. Run the world file 'irb_Main/worlds/new_wor1111111.wbt' in Webots.

This step must be completed without delay, immediately after the implementation of the previous step.

Syntax of functions for manipulation.

The project includes the possibility of manual remote control from a file 'irb_Main/controllers/inverse_kinematics/way.txt'.

• Move to a point (move). When the command is called, the robot's grip shifts towards the specified coordinate. The function is called with the command 'move (target_x, target_y, target_z)'
• Take at the point (take). When the command is called, the capture is simultaneously shifted to a specified point and compressed. The function is called with the command 'take (target_x, target_y, target_z)'.
• Let go (absolve). When the command is called, the grip is smoothly released. In the process of performing the functions of the manipulator joint, they remain static. The function is called with the 'absolute' command.
• Stop (stop). When the function is called, all joints of the robot stop and take a static position. The function is called with the 'stop' command.

The x/y/z coordinates of the points in the three-dimensional space of the scene correspond to the coordinates of the points in the Webots system.