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Project Proposal: Simulating and Forward Kinematics On Robotic Arm Using Python and Coppeliasim

This project proposes simulating a robotic arm and applying forward kinematics using CoppeliaSim and Python. The document discusses designing the robotic arm CAD model in SolidWorks, converting it to a URDF file, importing it into CoppeliaSim, connecting CoppeliaSim to Python, and using forward kinematics calculations in Python to control the simulated robotic arm by specifying joint angles. The objective is to simulate and test a robotic arm without physical hardware for lower costs and safer debugging.

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Shahkaar Ahmad
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175 views4 pages

Project Proposal: Simulating and Forward Kinematics On Robotic Arm Using Python and Coppeliasim

This project proposes simulating a robotic arm and applying forward kinematics using CoppeliaSim and Python. The document discusses designing the robotic arm CAD model in SolidWorks, converting it to a URDF file, importing it into CoppeliaSim, connecting CoppeliaSim to Python, and using forward kinematics calculations in Python to control the simulated robotic arm by specifying joint angles. The objective is to simulate and test a robotic arm without physical hardware for lower costs and safer debugging.

Uploaded by

Shahkaar Ahmad
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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PROJECT PROPOSAL

Simulating and Forward Kinematics On Robotic Arm


using Python and CoppeliaSim

Abstract
In this project the method of applying forward kinematics on a robotic arm and simulating it using
CoppeliaSim will be discussed. How to interface CoppeliaSim with python language and importing a
CAD model in CoppeliaSim.

Shahkaar Ahmad Khan & Yusra Sardar Zeb & M.Bilal


18PWMCT0626/ 18PWMCT0639/18PWMCT0625
Submitting to: Dr Shahbaz
Content
Introduction 2
Problem Statement 2
Problem Solution 2
Objective 2
Approach/Methodology 2
CAD 3
Budget 3
Reference 3

pg. 1
Introduction:
Working with robots is a time consuming and expensive task as far as prototyping and testing is
concerned. To make this process more cost-effective simulating software are developed. Most popular once are
ROS, ROS2 and CoppeliaSim. The one used in this project is CoppeliaSim. This is a robot simulator with
integrated development environment a proper heretical structure for all the objects and joints defined in a robot.
The software is compatible with C/C++, Python, Java, Lua, MATLAB or Octave. The language used in this
project is Python due to its vast range of libraries and it’s a high-level language. (CoppeliaRobotics)

Problem statement:
 Designing a robot and its algorithm with mini expense
 Debugging before any kind of damage
 Testing and understanding the working of robot without the robot

Problem Solution:
 Using a Robot Simulator
 Using a programing language for implementing forward kinematics for a controlled movement of robot

Objective:
 Designing a CAD of a robot.
 Importing CAD
 Connecting PyCharm IDE with CoppeliaSim
 Applying forward kinematics using PyCharm

Approach/Methodology
 Use solid works to design robot CAD module.
 Download SW2URDF plugin software for the solid works by this the CAD can be converted to URDF
file that’s acceptable by the CoppeliaSim.
 Add it through the Add-in option in the solid works then through file export as URDF.
 Set the hierarchical structure of the robot in solid works and save the URDF file
 In CoppeliaSim import the URDF set the joint initial angles torque and few dynamic properties if
required like the speed of rotation.
 Enable PID control on all the joints
 Connecting PyCharm with CoppeliaSim by adding the libraries from the CoppeliaSim folder in the C
drive.
 For the robot to react on your python commands make sure the CoppeliaSim is running the simulation
then run the python script.
 Write a program that takes in the angles of the arms and outputs the transformation matrix for that you
first need to make the DH table.
 By running the code it will first ask user for the angles and displays the transformation matrix and
simulate it on the CoppeliaSim. (YouTube) (YouTube)

pg. 2
CAD

Budget
No expense as it’s a software demonstration

References
CoppeliaRobotics. n.d. https://www.coppeliarobotics.com/.
YouTube. n.d. https://www.youtube.com/watch?v=SQont-mTnfM.
YouTube. n.d. https://www.youtube.com/watch?v=jfUA2W-niIc.

pg. 3

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