Forward Kinematics Demonstration of 6DF Robot using CoppeliaSim and C#


  • Sudip Chakraborty Post-Doctoral Researcher, College of Computer science and Information science, Srinivas University, Mangalore-575 001, India
  • Aithal P. S. Vice Chancellor, Srinivas University, Karnataka, India


Robot IDE, Robot Simulator, Robot Programming, 3D simulator


Purpose: Robot researchers need the simulator to test their functions and algorithm before implementing into the real Robot. When we search for a good simulator, a customizable Robot simulator is not available to the researcher. Some good options are available in the market, but their price is too high, not affordable. After much research, we found a better solution around all aspects, fully customizable and entirely free of cost. There are two sides. One is a 3D view of robotics ARM, and another is a joint controller of robotics ARM. For 3D simulation, CoppeliaSim is the best option. It is free of cost and Open Source. The C# language is becoming famous for its managed code structure and ease of implementation. Our Robot controller is in the C# language. Microsoft visual studio is the best IDE to control the simulator. It is an unparallel IDE for the programmer. In the CoppeliaSim little bit, Lua script is in associated functions. For Communication Between the CoppeliaSim and our application, we will use the Remote API Framework.
Design/Methodology/Approach: Here we are using the prebuild robot model of CoppeliaSim IDE (Integrated Development Environment) to save the time and attach Lua scripts associated with robot object. From Visual studio IDE we control the Virtual Robot through TCP/IP socket object. Using GUI (Graphical User Interface) we send the command to the robot.
Findings/Result: The researcher who is developing robotics arm, is required the vast knowledge of position and rotation of different joints. Changing the joint value using the GUI element, we can observe the various robot pose. The researcher can proceed further Sending the multiple sequential command. Thus, we can simulate industrial process automation.
Originality/Value: Using both CoppeliaSim and visual studio IDE can create a better environment for our robotics research.
Paper Type: Simulation.


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How to Cite

Sudip Chakraborty, & Aithal P. S. (2021). Forward Kinematics Demonstration of 6DF Robot using CoppeliaSim and C#. International Journal of Applied Engineering and Management Letters (IJAEML), 5(1), 29–37. Retrieved from

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