Interactive computer graphics systems for simulation and off-line programming of industrial robots are becoming increasingly important in factory automation systems. Advanced robot simulation tools are capable of simu...
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Interactive computer graphics systems for simulation and off-line programming of industrial robots are becoming increasingly important in factory automation systems. Advanced robot simulation tools are capable of simulating and displaying the motions of robot manipulators in the workspace, coordination with moving workpieces, and interference with potential obstacles. This paper describes a significant and useful extension of the state-of-the-art robot motion programming software for simulation. This extension includes the dynamic effects of the robot and controller as an integrated system. As a result, dynamic path errors can be displayed and a more accurate tool path can be achieved. The dynamic simulation includes realistic representations of robot arm mechanics, drive systems, and microprocessor-based controls.
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