Off-Line Programming of Robots Using a 3D Graphical Simulation System

The development of a robot cell using the GRASP 3D graphical simulation system and the process of off-line programming a KUKA industrial robot is demonstrated. An example component is produced using the MEDUSA CAD system and the geometrical data is then transferred via an interface to GRASP where the robot programming and cell design are performed. Finally when the robot program is fully developed, the procedure of running through a post processor and down loading to the robot is described. The advantage of this method is that if at a later date it becomes necessary to modify the program this can be performed in GRASP while the robot is still operating. Thus production need only be stopped while the new program is loaded onto the robot controller.