Click the link below to download V-Rep simulation files

Pick and Place or Github

Initial setup

• Install Octave and V-rep following instructions given in the introduction of Direct Kinematics experiment.


• The build files for different operating systems are available inside 'Pick_and_place -> octave_remoteAPI' folder


• Use build files buildLin.m in Linux, buildMac.m in Mac and buildWin.m in Windows to build remoteApi.oct for the first time only.

Usage

• Inside Pick_and_place folder, there is Dagu_arm_pnp.ttt file, which is a V-rep simulation file.


• Inside Pick_and_place -> octave_remoteAPI folder, there is DaguArmControl_PnP.m file, which has to be executed using octave.


• Open both files in corresponding softwares and use play/pause/stop buttons in the top of v-rep environment to run/pause/stop the simulation.


• Make sure Dagu_arm_pnp.ttt file is opened in V-Rep and simulation(server) is running before executing octave file DaguArmControl_PnP.m(client).


• Run the octave file, follow instructions displayed in command window of octave and observe the simulation in v-rep.


• If you get the error Failed connecting to remote API server, please check if v-rep is running in octave even while Dagu_arm_pnp.ttt is running, please use play/pause/stop buttons in v-rep once or twice to rectify. If it is not working, please close and reopen v-rep.


• Octave code can be used in matlab with some syntax changes at appropriate places.