Modelling and simulation of an omnidirectional mobile platform with robotic arm in CoppeliaSim

Abstract

In robotics applications, simulation is a powerful tool that allows customization, troubleshooting, and reduction of the cost and time of development, even in the absence of a physical robot. This paper presents the modelling and simulation of an omnidirectional mobile platform with Mecanum wheels, coupled with the UR5 robotic arm, in preparation for the implementation on the real robot. The goal of simulation is to move the platform to the proximity of work objects by executing only translational movements, pick up the objects using the robotic arm, store them on the platform and transport them to the destination.