Solving Universal Robots Kinematics: Simulation with CoppeliaSim and MATLAB

Solving Universal Robots kinematics with MATLAB, and confirmation of the 8 inverse kinematic solutions in CoppeliaSim. STEPS: 1. Open the MATLAB directory and the CoppeliaSim scene of the robot you want to control; 2. Start the GUI by double-clicking the &file, afterward press run; 3. Run the CoppeliaSim scene; 5. Select the robot you are controlling and the target joint values; 6. Press &Simulation'; The target joint values go through the Forward kinematics function, which outputs the corresponding target tip pose. This target pose is used in the Inverse kinematics function to obtain the eight Inverse kinematic solutions. These values are sent to CoppeliaSim and the robot model is actuated accordingly. You can compare the output from the Forward kinematics (target pose) to the eight tip poses presented in CoppeliaSim (correspondent to the eight IK solutions). They are all equal! Universidade do Minho Any doubts please send your questions via e-mail to: João Gaspar Cunha - gasparcunha19@outlook.pt