A crash course on the interface with the CoppeliaSim robot simulator.
All lessons are in MATLAB Live Script format, meaning that the coding is explained alongside the mathematical equations that they represent. At the end of each lesson, there is a homework section to help the reader internalize the concepts introduced in the lesson.
- Install MATLAB.
- Clone the latest version of the DQ Robotics or download it as a ZIP package.
- Add it to the MATLAB path.
- Set Path > Add with Subfolders.
- Clone this repository or download it as a ZIP package.
- Install CoppeliaSim.
- Download the CoppeliaSim scenes (the .ttt files) used in the lessons.
- Or simply run:
curl https://files.de-1.osf.io/v1/resources/2tfsx/providers/osfstorage/?zip= -o scenes.zip
- Or simply run:
- Open each lesson in MATLAB and follow through the live script.
The following lessons are currently available.
| Number | Title | Content |
|---|---|---|
| 1 | CoppeliaSim Basics | The very basics of CoppeliaSim, including simulation setup. |
| 2 | Static World (part 1) | How to interact with objects on CoppeliaSim in static scenes. |
| 3 | Static World (part 2) | How to interact with robots on CoppeliaSim in static scenes. |
| 4 | Dynamic World | How to interact with robots on CoppeliaSim in dynamic scenes. |
As a crash course on CoppeliaSim interface, these lessons assume basic knowledge of dual quaternion algebra and the use of DQ Robotics and CoppeliaSim.
- For an introduction to dual quaternion algebra to robotics, see [1].
- For basic MATLAB lessons on kinematic modeling and control of serial manipulators using DQ Robotics, see [2].
- For general CoppeliaSim tutorials, see [3].
- [1] Adorno, B.V., 2017. Robot Kinematic Modeling and Control Based on Dual Quaternion Algebra---Part I: Fundamentals.
- [2] Kinematic modeling and control of serial-link robotic manipulators using DQ Robotics: From zero to hero.
- [3] CoppeliaSim tutorials.
If you have any issues, please let us know via the discussion forum.