Diner_Robot

This project is a CoppeliaSim based serving robot in a diner scene. The main objective is to model a 6 degree of freedom robotic arm fixed on a 2 degree of freedom four-wheeled moving cart. Followed by the implementation of a four-wheeled differential drive, and forward-inverse kinematics and program the model to simulate the task for autonomously navigating and completing a pre-defined job. All the calculations are verified using an independent python script

Steps to run simulation

Clone this repository

git clone --recursive https://github.com/kavyadevd/Diner_Robot.git

Coppeliasim

Download Coppeliasim unpack the compressed file. Run the simulator script by running the following command on cmd:

$<CoppeliaSim-folder-path>/coppeliaSim.sh <Diner-Robot-Folder>/Diner4.ttt

In separate terminal run the following command:

cd Diner_Robot
python3 robot_control.py

The robot moel in custom scene is as follows

The complete demo can be seen here