Simulation
Simulink
The main simulation used for testing the control system of the robotic arm is made with Simulink, using the different parts of the Simscape suite to simulate the robotic arm.
Motors
3d model
To show a 3d simulation of the robotic arm, a simplified version of the arm is used. Most of the part models are ported from SolidWorks, using STEP files to render the models. Apart from the gripper, which uses an altered version of the gripper model, and uses two obj files, one for the base and one for the claw, to allow for rotation of the gripper in the simulation.
This model is connected to the simulated motors by connecting the physical torque signals the motors produce, and connecting the output speed from the joints back to the motors. This allows the control system to send instructions to the motors, and let the motors then manipulate the arm.