🚀 This repository provides a complete simulation framework for the KUKA youBot mobile manipulator, integrating its omnidirectional mecanum base and 5-DOF robotic arm into a unified system. The project combines ROS Noetic, MATLAB, and CoppeliaSim to deliver an end-to-end solution for modeling, control, and visualization of mobile manipulation tasks.

The framework is structured to support:

• ROS Noetic package (kuka_youbot) for robot description (URDF/Xacro), simulation, and visualization in RViz.
• MATLAB environment (matlab/) for control design, kinematics/dynamics, observer-based feedback, and data analysis.
• CoppeliaSim 3D simulator (Coppeliasim_Scenes/) for realistic visualization of the robot, workspace, and trajectories.
• CSV datasets (csv files/) for recording and replaying robot states, control inputs, and analysis results.
• Documentation and media (docs/, media/) including the project report, plots, and CAD-based visualizations.

By bridging multiple environments, this repository serves as a research-grade simulation platform for mobile manipulation, enabling tasks such as:

• Path planning and trajectory tracking
• Arm manipulability analysis
• End-effector pose estimation
• Full-system ROS integration with TF frames, RViz markers, and live trajectory visualization

Whether you are a student, researcher, or developer, this project provides a ready-to-use and extensible setup to explore robotics, control systems, and mobile manipulation in both academic and industrial contexts.

This project provides a full simulation environment for a mobile manipulator system capable of precise pick-and-place operations in static environments. The framework integrates modeling, control, and visualization across multiple platforms to ensure realistic performance and scalability for industrial and research applications.

• matlab/ : Core control, kinematics, and dynamics scripts. Entry point: MobileManipulatorMain.m.
• Coppeliasim_Scenes/ : .ttt scene files for 3D simulation in CoppeliaSim.
• csv files/ : Example motion and control data for analysis and replay.
• docs/ : Project documentation and final report (PDF).
• media/ : Images and videos for documentation and demonstration.
• kuka_youbot : ROS Noetic package (URDF/Xacro, launch, nodes).

• 🟡 Mecanum-wheeled base for omnidirectional navigation
• 🟡 5-DOF robotic arm for accurate end-effector control
• 🟡 Observer-Based State Feedback Control for trajectory tracking
• 🟡 Simulation & Visualization in:
  • ROS Noetic (RViz)
  • MATLAB
  • CoppeliaSim
• 🟡 Accurate CAD modeling in CATIA V5 → translated into URDF/Xacro for ROS

• Open MATLAB and navigate to the matlab/ folder.
• Run MobileManipulatorMain.m to start the full simulation.
• Optional: Run additional scripts such as ArmPolePlacementandObserver.m to simulate only the arm control.

• Open CoppeliaSim.
• Load the scene file Coppeliasim_Scenes/Scene6_youBot_cube.ttt.
• Ensure the robot parameters match MATLAB for consistent simulation.

• CSV files in csv_files/ contain motion and control data.
• MATLAB scripts can read and process these files for analysis or replay.

cd kuka_youbot

cd ~/your_workspace_name
catkin_make
source devel/setup.bash

roslaunch kuka_youbot full_robot.launch

• robot_description: Loads full URDF/Xacro model combining arm + mobile base.
• robot_state_publisher: Publishes all TF transforms.
• joint_state_publisher_gui: GUI for manual joint testing.
• rviz: Visualization using robot2.rviz config (shows robot, TF frames, markers, trajectory).
• end_effector_pose.py: Publishes 3D end-effector position using TF.
• marker.py: Visualizes gripper position in RViz.
• path.py: Updates end-effector trajectory in RViz.
• rqt_graph: Shows live node-topic communication.

All images and videos are stored in media/. Below is a description and usage of each:

Fully assembled robot visualization in ROS.

DH frame assignment for all robotic arm joints.

Manipulability analysis for full mobile manipulator.