Design and development of a virtualized model of an industrial robotic arm

This paper began as an initiative to put in the hands of each student one or more of the manipulator robots that the university has in a controlled environment, with which they can experience different concepts such as forward and inverse kinematics, ways to control the movement of the robot and its trajectories, demonstrate the singularities of it, and even that the student can make use of it at home. Webots has a wide range of mobile robots, anthropomorphic robots, manufacturing cells, etc. but it does not have all the existing robots on the market; that is why we decided to find a way to bring the CAD model RV-3SB made by the robot manufacturer to this platform and be able to make it useful even with their own hand-held. In fact, we experimented to attach an external control to interact with the model in Webots to make the simulation of the experiment as close as possible to the real interaction with the robot that we have selected for this study.