CoppeliaSim forums

What if I want to use the robot toolbox in matlab to build a model that is the same as the robotic arm in vrep so that their end positions are the same after passing in the same joint angle?

The concept of robot configuration aims to conveniently represent a robot as a vector of joint positions.

If the robot geometry is the same (same DH params, same joints ranges & orientation), the same robot configuration vector will describe the same pose both in CoppeliaSim and in Robotics Toolbox.

Hi

if i have understood you correctly. you are asking whether there is a way to extract the simulation model DH parameters to MATLAB?

i am also a beginer. as for what im familiar with you have:

1. using the application kinematic module:
- choose the last object for your requiered kineatic chain
- at the upper ribon of the 'Coppelia' choose Modules->Kinematics->Denavit-Hartenberg extractor
- all the DH parameters would be displays at the command window

2. using the MATLAB API simxGetObjectGroupData (local position/ orientation) of each simulation joint sim/ object.

it is a good question whether there is a single API function for getting the DH parameters like in the first option.