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Bifrost

Bifrost is a control GUI for the ThorRR open-source 6-axis robot arm, built with PyQt5.

Originally forked from Asgard, Bifrost has been extensively rewritten to target RepRapFirmware on the BTT Octopus Pro v1.0 controller board, connected via USB serial.

Features

  • Forward Kinematics with configurable DH parameters
  • Inverse Kinematics with real-time Cartesian jogging
  • 3D Visualisation of the robot arm using STL meshes (PyQtGraph + OpenGL)
  • Sequence Recorder for recording, saving, loading, and playing back movement sequences
  • Gripper Control with calibratable PWM servo
  • Coordinate Frames with base frame and tool offset support
  • Differential Wrist Kinematics handling the coupled J5/J6 bevel gear mechanism
  • Simulation Mode for testing without hardware connected
  • Motor Calibration Panel for DH parameters, motor direction, and gripper PWM tuning

Quick Start (Standalone)

Download bifrost.exe from the releases page and run it. On first launch a Bifrost_Data/ folder is created next to the exe containing default configuration files. Your calibration and settings are saved there and persist between sessions.

Running from Source

Requires Python 3.10+.

pip install -r requirements.txt
python bifrost.py

Dependencies

  • PyQt5
  • numpy
  • scipy
  • pyqtgraph
  • PyOpenGL
  • numpy-stl
  • pyserial
  • matplotlib

Building the Exe

pip install pyinstaller
pyinstaller bifrost.spec --noconfirm

Output: dist/bifrost.exe (~90 MB standalone executable).

Hardware

  • Controller: BTT Octopus Pro v1.0 (STM32F446)
  • Firmware: RepRapFirmware 3.6.1
  • Connection: USB serial (115200 baud)
  • Drivers: A4988 stepper drivers, 16x microstepping

Acknowledgements

License

All files included in this repository are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
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