Cobot Lab

What it does

• Simulates real armsUR3e, UR5e, UR10e and UR16e from their published parameters, or any six-joint arm imported from a URDF file, with a gripper and live tool-pose readouts.
• Moves like the controllerJoint, straight-line and arc moves within each joint's speed and acceleration limits, with every inverse-kinematics solution and a warning near singularities.
• Plans around obstaclesA collision guard against the table, the arm itself and boxes you place, and automatic collision-free paths for moves and pick and place.
• Handles real physicsA rigid-body bench where the arm pushes, grips and carries objects, and the holding torque each motor needs.
• Connects to real workA teach-pendant program that exports URScript for a real UR controller, share links, and a bridge to ROS 1 and ROS 2.
• Teaches roboticsA guided tutorial at three levels, from moving the arm to collision models, planning and ROS.

How it is built

The robotics core (kinematics, motion, path planning and the URDF reader) is written as plain, tested functions, and the 3D scene draws the arm straight from their results, so what you see is exactly what is checked. Automated tests run on every change, including the check that a UR5e imported from URDF matches the built-in model exactly. Everything runs in your browser.

Author

Cobot Lab was designed and built by Daniel Alberto Sepulveda Estay, PhD, founder of Estay Dynamics. He works on simulation, system dynamics and optimisation for engineering and operations decisions. He holds a PhD from the Technical University of Denmark and an MSc from the Massachusetts Institute of Technology, and is a council member of the System Dynamics Society.

More about Daniel →

To cite: Sepulveda Estay, D. A. (2026). Cobot Lab: a collaborative robot arm simulator (version 5.5.2) [Software]. https://kathuman.github.io/claude-projects/cobot-lab/