Virtual robot program development for assembly processes using rigid-body simulation

摘要

This paper presents a concept for the virtual robot program development (VIPD) for assembly processes with industrial robots. The concept aims to the possibility to completely create and validate robot programs for assembly processes with the help of a simulation environment. VIPD provides a consistent communication platform for the cooperative work of different project teams during the system engineering workflow. The paper focuses on the analysis and identification of the practically relevant requirements (II), which are described by a use-case from the automobile industry and the explanation of a suitable software architecture and its functional components such as a behavior component and a rigid-body simulator.