Lenna Visual Inverse Kinematic Solver

A specialized 6-DOF kinematic engine providing high-accuracy Inverse Kinematics (IK) and 3D path visualization. This repository implements a numerical solver for serial-link manipulators using standard Denavit-Hartenberg (D-H) conventions.

🛠 Technical Specifications

The solver is pre-configured for a standard 6-joint industrial-style arm with the following D-H configuration:

• Degrees of Freedom: 6 (Base, Shoulder, Elbow, and 3-axis Wrist).
• IK Methodology: Numerical optimization using the L-BFGS-B algorithm via scipy.optimize.
• Trajectory Planning: Linear joint-space interpolation.
• Rotation Logic: Standard XYZ Roll-Pitch-Yaw (RPY) extraction from 3x3 rotation matrices.

📂 Core Scripts

1. IK_static_visuals.py

The base simulator designed for command-line pose testing.

• Supports relative movement (rel dx dy dz) and absolute pose commands (abs x y z R P Y).
• Generates a static 3D plot of the start and end configurations.

2. IK_live_visuals.py

The high-accuracy implementation for real-time tracking.

• Multi-start Optimization: Iterates through multiple initial configurations to avoid local minima and ensure accuracy within a 5mm tolerance.
• Live Animation: Renders a dynamic Matplotlib window showing the robot's motion and the end-effector path.
• Visual Debugging: Real-time magenta labels tracking the end-effector coordinates.

💻 Usage

# Run the live high-accuracy simulator
python IK_live_visuals.py

Commands:

• abs 0.5 0.2 0.4 0 0.1 0: Move end-effector to an absolute coordinate.
• rel 0.1 0 -0.1: Move the end-effector relative to its current position (+10cm X, -10cm Z).