1.5.1 Simulation/Off-line Programming
• How a robot interacts with the environment makes it difficult to program off-line. To do this successfully, a complete simulation of the robot workspace is required.
• One excellent example of a simulation package is CIMStation by Silma. It allows full construction of the robots workspace, and subsequent testing.
• Examples of simulated operation in CIMStation are,
- painting
- NC code verification
- tool and fixture simulation
- Design For Manufacturing
- process planning
- composite tape layup
- composite filament layup
- spot welding
- arc welding
- material/work manipulation
- collision detection
- deburring
- inspection
- kinematic and dynamic simulation
- controller simulation
• The simulators available for the robots in the lab allow off-line programming and simulations.