Industrial Robotics Platform for Simulation Design, Planning and Optimization based on Off-line CAD Programming
1 Mines Douai, IA, F-59508, Douai, France
2 Univ. Lille, F-59000 Lille, France
3 DIEI, University of Cassino and Southern Lazio, Cassino, Italy
4 DGRSDT, Advanced Technology Development Center, Algeria
5 FE, University of Kragujevac, Kragujevac, Serbia
6 CEECS, Nanjing Robotics Institute, China
This paper presents IRoSim: Industrial Robotics Simulation Design Planning and Optimization platform which we developed based on SolidWorks API. The main objective is to integrate features from mechanical and robotics CAD software into the same platform in order to facilitate the development process through a friendly interaction interface. The platform provides important steps to develop a given robotized task such as: defining a given task, CAD learning of the end-effectors’ trajectory, checking the manipulator’s reach-ability to perform a task, simulating the motion and preventing the trajectory from possible collisions. To assess the usability of the proposed platform, a car’s doors painting task using a 6 Degree Of Freedom industrial manipulator has been developed.
© The Authors, published by EDP Sciences, 2016
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