Introduction: Robotic Pick and Place Simulation Using CoppeliaSim

By mechatronics Ninja
About: -

Hi Ninjas,
In this tutorial, I will show you how to create a pick and place application using the robotic simulation software CoppeliaSim.
The objects on the conveyor will be sorted by their color.

Step 1: Adding All Parts to the Scene

The objects added are the following:

- A robot: I personally choose the KUKA KR16 which I already re-modeled:

- A conveyor: my preferred one is the "generic conveyor system" that you can import from: equipment > conveyors.

- A gripper (optional): this is added just for visualization because I will fake the gripping of the object on the conveyor in my code.

- 3 bins to place the sorted objects. You can download the bins I used from: https://drive.google.com/file/d/1zD0vsH7t15jEGhuzms557tJR-9FaqMjb/view?usp=sharing

Step 2: The Program Architecture

The scene is divided into multiple scripts:

- A script that continuously creates an object with a random color (R, G or Blue) every 30 seconds.

- A script that stops the conveyor each time the object reached the proximity sensor.

- The main script that controls the robot moves.