Multi-Platforms Integration in Robotics: Simulating Robots Using CoppeliaSim, Choregraphe and Matlab

摘要

This study describes the development and simulation of two robotic systems with CoppeliaSim, Matlab, and Choregraphe, for which CoppeliaSim is the primary robotic software. Firstly, the stationary ABB IRB 120 Robot is designed and simulated in CoppeliaSim, which analyzes and optimizes its motion using both forward and inverse kinematics. This is accompanied by a dynamic simulation of the NAO mobile robot, which was accomplished through the seamless integration of CoppeliaSim and Choregraphe, resulting in improved control and interaction skills. Furthermore, the ABB IRB 120 Robot undergoes an additional simulation phase that involves the integration of Matlab and CoppeliaSim, with an emphasis on sophisticated kinematic analysis and sensor data collecting. This study shows how combining different platforms improves the adaptability of robotic simulations, enabling more complicated real-time data collecting and control tactics. The findings are useful for academics and developers dealing with various robotics systems platforms and control techniques.