A software system for the simulation of robot based manufacturing processes

Abstract A simulation system is described which supports programming of robot based manufacturing processes. A cad system is used for geometric modelling. The system allows modelling of different object classes like robots, end-effectors, sensors, workpieces as well as the robot's environment. Control functions on different control hierarchies in the manufacturing system can be emulated. The emulation of the virtual robots is displayed graphically. Analysis and evaluation methods are applied to detect errors and conflicts in the simulated manufacturing process with the purpose of optimizing the program.