Coppeliasim tutorial


  • LiDAR integration with ROS: quickstart guide and projects ideas
  • 01: Line-Following Robot | V-Rep Tutorial
  • Coppelia sim (vrep) turns on the solution of flash back
  • Pioneer CoppeliaSim Demos (Solutions)
  • Robotics With V-REP / CoppeliaSim
  • CoppeliaSim (V-rep) Raspberry Pi Computer Vision Robot
  • LiDAR integration with ROS: quickstart guide and projects ideas

    This tool makes it possible to create portable, scalable and easy-to-maintain simulations for multiple scenarios. For an interactive production environment, the CoppeliaSim Robot Simulator relies on a distributed control architectural system in which the individual control of each object or model requires an embedded script for high performance applications.

    Such features give CoppeliaSim extremely versatile and adaptable powers for a broad range of robotic systems.

    CoppeliaSim is used in the development of high-speed algorithms, as well as for plant modelling, rapid prototyping, validations, automated double-checking, etc. This feature-rich tool performs very effectively for a range of applications in domains that include engineering, military, aerospace, and health sciences.

    Figure 3: Setting a panel to detect the distance for avoiding a collision This tool converges dynamics and physics, and uses bullet mechanics, differential equations and other integrations for easy and effective calculations that simulate real life scenarios including collision reaction, grabbing, collision response, and grasping.

    Multiple recordable data sources including user-dependent can view or combine time graphs with xy-graphs. CoppeliaSim integrates features for real-time automations including proximity sensors, vision sensors, and viewable objects. Collision detection and avoidance in CoppeliaSim If a robot is developed for industrial and corporate applications, it should be programmed in such a way that it does not collide with other components or machinery in the industrial unit.

    The collision detection and avoidance module is easy to program in CoppeliaSim. Researchers and scientists can carry out research tasks using open source platforms and tools like CoppeliaSim for robotic applications, whenever the real world infrastructure and devices are too costly to work with.

    01: Line-Following Robot | V-Rep Tutorial

    A wall following robot is designed to move along a wall without hitting it. It has obstacle detection sensors mounted on the body which detects wall and drive DC motors attached to the wheels such that the robot keeps moving along the wall. The robot can be designed right oriented or left oriented or even can be designed to follow either sides.

    A right or left oriented wall follower can be designed easily with the help of just two sensors. Though more sensors can be used in making such a robot which will ultimately improve the path accuracy of the robot. For making a wall follower which can side either ways, at least three sensors are must to use and the program logic goes a little complex and sophisticated.

    If right oriented wall follower is designed, the obstacle detection sensors need to be mounted on front and right side of the robot.

    If Left oriented wall follower is designed, the obstacle detector sensors need to be mounted on front and left side of the robot. If the robot is designed to follow either sides, obstacle detector sensors need to be mounted on front, left and right side of the robot. In this project a left side wall following robot is designed. The IR sensors can be used to detect a predetermined and calibrated distance from the wall and so, on using IR sensors, the robot is designed to maintain a fixed distance from the wall.

    In such a case, a high path accuracy cannot be achieved. Secondly, in the presence of sun light or reflection from a black spot on the wall, the robot may not work as desired due to limitations of the IR sensor in such cases.

    While if ultrasonic sensor is used as obstacle detector, the robot can be designed to keep a range of distance with the wall which improves not only the flexibility of the path, but also improves its accuracy.

    Since ultrasonic sensors operate on the basis of reflection of ultrasonic sound waves, they can be relied in environments where there is sunlight or black obstacles in path. Considering these advantages of ultrasonic sensors over IR sensors, the ultrasonic sensors are used for obstacle or wall detection in this project. The microcontroller board providing the intelligence to the robot is Arduino Pro Mini.

    The robot can also be designed on any other microcontroller board. The program code developed for this robot is also compatible with Arduino UNO and will work fine if the interfacing of sensors and motor driver IC is done the same way as the program operates.

    The Arduino Pro Mini is used due to its small size and light weight. The program code is written and burnt using Arduino IDE. Components Required — Fig. The ultrasonic sensors and the LD motor driver IC are interfaced to the controller board to make this a functional robot. The supply from the battery is regulated to 5V and 12V using and ICs. The pin 1 of both the voltage regulator ICs is connected to the anode of the battery and pin 2 of both ICs is connected to ground. The respective voltage outputs are drawn from pin 3 of the respective voltage regulator ICs.

    Despite using 12V battery, is used to provide a regulated and stable supply to the motor driver IC. The board is just 1. With such features packed in small size, this board is most ideal for any robotic project.

    In this project, 8 input output pins of Pro Mini are utilized, four pins for interfacing with ultrasonic sensors and four pins for interfacing with motor driver IC. It offers excellent non-contact range detection with high accuracy and stable readings in range from 2 cm to cm.

    There are two ultrasonic sensors used in the circuit, one is mounted on front of the robot and other is mounted on left side of the robot. The ultrasonic sensor mounted on front is connected to pins 5 and 6 of the Arduino board and sensor mounted on left side is connected to pins 10 and 11 of the Arduino board. The Echo pins of front and left sensor are connected to pins 5 and 11 of the Arduino board respectively while Trigger pins of front and left sensors are connected to pins 6 and 10 of the Arduino board.

    The ultrasonic sensor works on the principle of echo of sound waves. A High pulse signal is out from the echo pin as the ultrasonic wave is transmitted. This wave when collides with an obstacle, it is reflected back and detected by the sensor. On detecting the wave again, the High pulse signal from the echo pin of the sensor is terminated. The signal received from the echo pin is analog in nature. The distance from the obstacle can be measured by measuring the high time of the echo pin.

    This is the time between the transmission and reflection back of the sonic wave. The program code measures the pulse durations and digitize them to distance values using the formulae stated above. These distance values are utilized to maintain a set distance with the left side wall and divert from an obstacle in front of the robot from a preset distance.

    The motors are driven to maintain pre-determined distance from the left side wall. The Motor drivers act as current amplifiers since they take a low-current control signal and provide a higher-current signal. This higher current signal is used to drive the motors. It has 16 pins with following pin configuration: Fig.

    The DC motors are interfaced between pins 3 and 6 and pins 14 and 11 of the motor driver IC. The pins 15, 2, 7 and 10 of the motor driver IC are connected to pins 8, 2, 3 and 7 of the Arduino board. The DC motor attached to right wheel is connected to pins 11 and 14 while motor attached to left wheel is connected to pins 3 and 6 of the Arduino. Geared DC motors are available with wide range of RPM and Torque, which allow a robot to move based on the control signal it receives from the motor driver IC.

    How the circuit works — When the robot is powered on, it is initialized to move forward and keep turning left until it reaches a minimum distance with the left wall. For this, the robot is made to start motion in forward direction and start reading values from the ultrasonic sensors. The robot also keeps turning left by rotating right side DC motor more speedily until the left sensor reading approaches minimum value.

    Now onwards, the robot can face two conditions — either some obstacle appears in front of the robot or the distance with the wall may reduce due to the structure or layout of the wall. If an obstacle is detected in front of the robot at a preset distance, the robot will be turned right until it overcomes the obstacle.

    If there is no obstacle in front of the robot, the robot will continue forward motion. In case, the distance between the left wall and robot is reduced below minimum value, the robot will be made to move again in right direction by driving left side motor more speedily until the distance reaches a maximum value.

    The Arduino implements the same algorithm. This algorithm is summarized in the following flow chart — Fig. So the ultrasonic sensors sense the distance from wall or obstacle and the DC motors are driven to respond the changed situation. This is how the robot moves following wall and overcoming any obstacles. In a right oriented wall follower, the algorithm will be almost similar except that the robot will be designed to follow right wall and turn according in different situations.

    The design of a robot following either wall could be a bit complex as it will face new situations and will have to decide that which wall should be followed under certain circumstances.

    Check out how Arduino reads data from the ultrasonic sensors, compare readings with minimum and maximum offsets and change motor rotation in response to perceived situations. Programming Guide — The code uses the new ping library for the ultrasonic sensor. Learn more about the ping library from Arduino. CC and download NewPing. These constants denote how many ultra sonic sensors are used, the maximum distance sensor should respond and Ping interval is that time between the pings of two sensors in milliseconds.

    Coppelia sim (vrep) turns on the solution of flash back

    CoppeliaSim is used in the development of high-speed algorithms, as well as for plant modelling, rapid prototyping, validations, automated double-checking, etc. This feature-rich tool performs very effectively for a range of applications in domains that include engineering, military, aerospace, and health sciences.

    Pioneer CoppeliaSim Demos (Solutions)

    Figure 3: Setting a panel to detect the distance for avoiding a collision This tool converges dynamics and physics, and uses bullet mechanics, differential equations and other integrations for easy and effective calculations that simulate real life scenarios including collision reaction, grabbing, collision response, and grasping. Multiple recordable data sources including user-dependent can view or combine time graphs with xy-graphs.

    CoppeliaSim integrates features for real-time automations including proximity sensors, vision sensors, and viewable objects. A wall following robot is designed to move along a wall without hitting it.

    It has obstacle detection sensors mounted on the body which detects wall and drive DC motors attached to the wheels such that the robot keeps moving along the wall.

    The robot can be designed right oriented or left oriented or even can be designed to follow either sides. A right or left oriented wall follower can be designed easily with the help of just two sensors. Though more sensors can be used in making such a robot which will ultimately improve the path accuracy of the robot. For making a wall follower which can side either ways, at least three sensors are must to use and the program logic goes a little complex and sophisticated.

    If right oriented wall follower is designed, the obstacle detection sensors need to be mounted on front and right side of the robot. If Left oriented wall follower is designed, the obstacle detector sensors need to be mounted on front and left side of the robot.

    If the robot is designed to follow either sides, obstacle detector sensors need to be mounted on front, left and right side of the robot. In this project a left side wall following robot is designed. The IR sensors can be used to detect a predetermined and calibrated distance from the wall and so, on using IR sensors, the robot is designed to maintain a fixed distance from the wall.

    In such a case, a high path accuracy cannot be achieved. Secondly, in the presence of sun light or reflection from a black spot on the wall, the robot may not work as desired due to limitations of the IR sensor in such cases.

    While if ultrasonic sensor is used as obstacle detector, the robot can be designed to keep a range of distance with the wall which improves not only the flexibility of the path, but also improves its accuracy. Since ultrasonic sensors operate on the basis of reflection of ultrasonic sound waves, they can be relied in environments where there is sunlight or black obstacles in path.

    Considering these advantages of ultrasonic sensors over IR sensors, the ultrasonic sensors are used for obstacle or wall detection in this project. The microcontroller board providing the intelligence to the robot is Arduino Pro Mini.

    The robot can also be designed on any other microcontroller board. The program code developed for this robot is also compatible with Arduino UNO and will work fine if the interfacing of sensors and motor driver IC is done the same way as the program operates.

    The Arduino Pro Mini is used due to its small size and light weight. The program code is written and burnt using Arduino IDE. Components Required — Fig. The ultrasonic sensors and the LD motor driver IC are interfaced to the controller board to make this a functional robot.

    Robotics With V-REP / CoppeliaSim

    The supply from the battery is regulated to 5V and 12V using and ICs. The pin 1 of both the voltage regulator ICs is connected to the anode of the battery and pin 2 of both ICs is connected to ground. The respective voltage outputs are drawn from pin 3 of the respective voltage regulator ICs. Despite using 12V battery, is used to provide a regulated and stable supply to the motor driver IC.

    The board is just 1. With such features packed in small size, this board is most ideal for any robotic project. In this project, 8 input output pins of Pro Mini are utilized, four pins for interfacing with ultrasonic sensors and four pins for interfacing with motor driver IC. It offers excellent non-contact range detection with high accuracy and stable readings in range from 2 cm to cm.

    CoppeliaSim (V-rep) Raspberry Pi Computer Vision Robot

    There are two ultrasonic sensors used in the circuit, one is mounted on front of the robot and other is mounted on left side of the robot. The ultrasonic sensor mounted on front is connected to pins 5 and 6 of the Arduino board and sensor mounted on left side is connected to pins 10 and 11 of the Arduino board.

    The Echo pins of front and left sensor are connected to pins 5 and 11 of the Arduino board respectively while Trigger pins of front and left sensors are connected to pins 6 and 10 of the Arduino board.


    thoughts on “Coppeliasim tutorial

    Leave a Reply

    Your email address will not be published. Required fields are marked *