The use of simulation in the off-line programming of robots

摘要

The general requirements of a robot simulation system are discussed and the benefits of integrating such a system with a solid modeller are indicated. The status of a robot simulator integrated with the BUILD solid modelling system is examined. The application example cited is the Condition Number analysis for optimum positioning of a workpiece in a robot's workspace. The robot simulator is used to verify that no interference takes place between the robot and workpiece in the optimum position.