A Custom Robotic ARM in CoppeliaSim

Purpose: For robotics research, we require the robot to test our functions, Logics, algorithms, tasks, etc. Generally, do not experiment with practical robot. The primary issue is Practical robots are costly. individual researcher usually cannot afford it. second one is, real risky and can damage property, human life, itself due bugs in program or abnormal activity. So, it best practice Simulator first. When algorithm finalized, be implemented into a A who starts Robotics learning curve too long develop workable Simulator. This paper demonstrates how easily create 7 Degree of Freedom (DOF) custom for research purpose. We will use CoppeliaSim simulator this It free, opensource, entirely GUI-based. without writing any code using software. Design/Methodology/Approach: Here describe At first, created DH parameter Then following step-by-step procedure, created. After creating, attach on object LUA script language. To control from external world, connect through TCP/IP socket communication. Establishing communication, move depending processed algorithm. Findings/Result: robotic arm needs their forward kinematics, Inverse statics, dynamics code. design Originality/Value: Using CoppeliaSim, research. Paper Type: Simulation based Research