ECE470 Robot Simulation Project

The goal of this project is to simulate a robot using program written in python (or programming language of your choice) to perform a specific task. This README file will include instructions on how to install a simulation platform and program a robot to move its joints.

Getting Started

The instructions written in this file are specifically for running the simulation on Linux system (Ubuntu 16.04).

Prerequisites

The simulation platform we used in this project is V-rep and all programming code will be written in Python3.

Installing V-REP

Step 1. Download V-REP You can download V-REP for Linux system by following this link http://www.coppeliarobotics.com/downloads.html.

Step 2. Install V-REP Next, after the V-REP zip is downloaded, you can unzip the file by entering the followings in a terminal

cd Downloads
sh V-REP_PRO_EDU_V3_5_0_Linux.sh

Step 3. Launch V-REP You can run v-rep from its own directory by enter the followings in a terminal

cd V-REP_PRO_EDU_V3_5_0_Linux
./vrep.sh

Set Up Scene

Step 1. Drag Robot "Sawyer" into GUI

Step 2. Click "Add" in menu bar, select "Primitive Shape" -> "Sphere". Set "X-size" to 6.0000e-01, "Material density" to 30

Step 3. Drag the sphere to a desired location

Run Python Project

You can create a folder in parallel to the v-rep folder and run your python code from there. However, in order to successfully import vrep package, you also need to add vrep.py, vrepConst.py and remoteApi.so to the folder, which can all be found in the V-REP folder that you have just unziped.

 cd ECE470_Final
 python ./cp1.py

Run Matlab Project

The demonstration for checkpoint 2 was written in matlab. In order to run the project, open the matlab file and click run.

Week2

We implemented the problem of forward kinematics during week2. The robot we used in this part of project is UR3 robot. First of all we've determined the homogeneous matrices for each set of joints by drawing the general schematic of UR3 robot. Then, we input two sets of theta angles in order for the ending pose of the robot to be determined. The final pose of the dummy object which is calculated using T should match the ending pose of the robot.

Authors

• Katherine Yun
• Sophie Jin

Acknowledgments

• We used Prof. Bretl's test code as a starter to implement our project.