In Progress: UR10e Simulation Project

I am currently working toward building a functional a simulator for the UR10e (6-axis industrial robotic arm) using the Simscape (Simulink) multibody addon. 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/velocity outputs, I used my knowledge in Dynamics to derived mathematical relations between joint position/velocity to track the position and velocity of the end effector.