Abstract
The benefits of robot simulation technology have been recognized by scientists and engineers, with applications ranging from simple robot path simulation to complete robotic cell layout simulation. Robot simulation is one of the essential elements of modern and agile manufacturing plants, as it allows to visualize and test a robotic system, even if it does not exist physically. High-growth industries and emerging manufacturing processes will increasingly depend on advanced robot technology such as robotic simulation. Robot path simulation is a very useful process to predict and pre-evaluate performance of robot programs generated off-line. This paper presents a simulation system where a relatively low cost and commercially available 3D CAD package is used as an interface to visualize/simulate pre-programmed robot paths. The developed system is intuitive and friendly, so that in a few minutes any user without knowledge of CAD and robot programming will be able to simulate robot paths and visualize it in a CAD environment. This way, this simulator can be useful for small and medium sized enterprises and for educational purposes. Three different experiments (simulation of robot motion/paths) are presented and discussed: a material handling task; a robot performing work in the footwear industry (shoes soles); and finally, the simulation of robot paths for a robot operating in a bending cell. The experimental results showed that the proposed system is flexible, easy to use and efficient. This paper also covers topics like how simulation makes robot programming easier, advantages and disadvantages of simulation in robotics, and the future trends in this field. Finally, the results of the experiments will be analyzed and discussed. The pros and cons of the system in relation to off-the-shelf robot simulation packages are analyzed.
Published Version
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