Modelagem e simulação do manipulador robótico UR5 no CoppeliaSim com otimização de posição

Abstract

This study employs the CoppeliaSim environment to simulate the movements of the UR5 (Universal Robot 5) robotic manipulator, developed by Universal Robots as a collaborative robot (cobot). The objective is to establish an integrated simulation framework between CoppeliaSim and MATLAB to design a coordination algorithm for the spatial configuration of the manipulator, enabling its movement between two predefined points in three-dimensional space, an initial and a final configuration. To achieve this, the virtual implementation of the UR5 provided by CoppeliaSim is combined with the mathematical modeling of forward and inverse kinematics and the application of optimization methods to determine suitable spatial configurations. The evaluation was carried out through the manipulator's motion across seven consecutive waypoints, and the results of the proposed optimization approach demonstrated satisfactory performance for this preliminary study.