Paper (2007) - English

The document describes the development of a 3D virtual simulator for the Khepera II mobile robot. The mathematical models for the robot's kinematics, dynamics, and geometry were programmed in Matlab Simulink. The VRML toolbox was used to visualize the models in 3D and create a virtual environment. The virtual robot behaves according to the real robot's programmed models. This allows controlling the real robot and observing its movements and position in virtual space. The integrated simulator provides an interface for studying the robot's performance in realistic simulated scenarios.