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.
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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
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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
| 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 |
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/Zain Alabidin Shbani
Robotics & Intelligent Systems Engineering