Computing the workspace of a 6 DoF robot arm | CoppeliaSim (V-REP)
Channel: Leopoldo Armesto
Date: 28/06/2020

This video shows a procedure to compute the workspace of ​​a 6 DoF robot arm in CoppeliaSim. The procedure consists of generating a sweep with 2nd and 3rd joints of the robotic arm, and at the same time different orientations of the robot's end effector are tested. Those configurations that do not cause a collision with the ground or the robot itself are stored in a file for later analysis in Matlab. A simple script allows you to obtain the border of the robot's workspace and saved it as file for later use within CoppeliaSim. A function to check if a point is inside the robot's workspace will allow you to savely move the robot within the robot workspace, to prevent the robot from trying to move to unreachable positions or positions in collision. Please, buy me a coffee:
https://www.paypal.me/leoarmesto

The files used in the video can be downloaded here:
https://roboticafacil.es/coppeliasim/irb140/IRB140_workspace.zip

This video is part of a set of video tutorials used in robotics courses at the Universitat Politècnica de València.