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Mobile Manipulator Simulation Projects

This repository contains two robotics projects — a semester project and a senior capstone project — both focused on mobile manipulator simulation. Each project lives in its own subfolder with its own README, code, and documentation.

📁 Projects

1. Semester Project — 5-DOF KUKA youBot

📂 semester-project/

A complete simulation framework for the KUKA youBot mobile manipulator, integrating its omnidirectional mecanum base and 5-DOF robotic arm. Combines ROS Noetic, MATLAB, and CoppeliaSim for modeling, control, and visualization.

Highlights:

  • 5-DOF robotic arm + mecanum-wheeled omnidirectional base
  • Observer-based state feedback control
  • Full ROS Noetic integration (URDF/Xacro, RViz, TF)
  • CoppeliaSim 3D visualization
  • Trajectory planning and manipulability analysis

2. Senior Project — 3-DOF Custom Mobile Manipulator

📂 senior-project/

A custom-designed 3-DOF robotic arm on a mobile base, developed as a senior capstone project. Includes original CAD files and control code built on the foundations of the semester project.

Highlights:

  • Custom-designed 3-DOF arm (CAD + code)
  • Mobile base integration
  • MATLAB-based control and simulation

🔍 Quick Comparison

Feature Semester Project Senior Project
Robot KUKA youBot Custom Design
Arm DOF 5 3
Base Mecanum-wheel (omnidirectional) Mobile base
Tools ROS + MATLAB + CoppeliaSim MATLAB
CAD CATIA V5 → URDF Custom CAD files

🚀 Getting Started

Navigate to the project subfolder of your choice and follow its README.md:

# Semester project (KUKA youBot 5-DOF)
cd semester-project/

# Senior project (Custom 3-DOF arm)
cd senior-project/

👤 Author

Zain Alabidin Shbani
Robotics & Intelligent Systems Engineering