UR10e Simulation Project

I built a simulator for the UR10e (6-axis industrial robotic arm) using the Simscape multibody addon in Simulink. I imported an assembly from SolidWorks, assigning mates and creating input connections between joints and ports to control each individual rotational axis. I connected a GameCube controller to the signal inputs using the VR Controller Input for interactive input. To verify the position and velocity outputs, I used my knowledge in dynamics to track the position and velocity of the end effector based on each joint position and velocity.