Implementation of an Automated Catering Service Using UR3 Robotic Arms in CoppeliaSim V-REP

This paper explores the development and implementation of an automated catering service using UR3 robotic arms in the CoppeliaSim VREP simulation environment, controlled via MATLAB. It integrates various technologies, including robotic kinematics, neural networks, and computer vision, to optimize system efficiency. A UR3 kinematic model was developed, and its forward and inverse kinematics were validated and used to train a neural network model. The neural network showed high accuracy in both forward and inverse kinematics calculations using linear data. Object Detection showed high detectability percentages of items. This simulation demonstrates how the integration of these technologies with robotics kinematics can enhance robot service applications.