Mobile Shopping Robot

This competition project designed and simulated a mobile shopping robot mission using RecurDyn. The robot had to move through the course, grasp target objects with a manipulator, transport them while maintaining vehicle stability, and complete the mission under dynamic constraints.

The project focused on multibody dynamics modeling, contact/coefficient tuning for grasping, manipulator motion control through MATLAB co-simulation, and motion-sequence optimization for stable driving over bumps. The work received First Prize in the 2021 RecurDyn Simulation Contest.

• Led the CNU Mechatronics “잡아달랩” team as team leader for the RecurDyn Simulation Contest.
• Defined gripper contact coefficients for grasping irregular objects in the simulation environment.
• Controlled a 6-axis manipulator through RecurDyn-MATLAB co-simulation.
• Optimized object-transfer distance and arm posture to improve driving stability over bumps.
• Organized the mission sequence, simulation execution, and final project presentation material.