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.

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