The ROBOT3D system allows the
simulation and offline programming of robots and industrial robot cells using
MSDOS computers.
The system runs on a minimum platform 386 DX 33 with VGA adapter and a mouse.
To achieve an optimum performance the system requires a Pentium machine.
The software is customised for several combinations of external axis (or
positioners) and robots. Expansion of the system is possible with an optional C
library.
The software is tested and calibrated for the TAURUS BISIACH & CARRU
(Italy) robots - RCM3 SIEMENS controller, IRB2000 (s3),IRB2400 (s4) ABB, and
KR15/2 KUKA (KRL 32 a C1).
Licences of this system are working at SOREFAME ABB - Portugal (train
manufacturing - spot welding) and CTCV - Coimbra Portugal - Ceramics institute
(polishing application using IRB2400 robot). The system is ready to use with ABB
IRB2400, IRB1400 (s4) family of robots.
Several other robots are included with the package as IRB1400, KUKA IR163,
BOSCH (scara), HITACHI M6100. A post-processor for the programming language of
these robots can be developed for each case (delivery 15 days).
Inclusion of other less usual robots requires the development of a specific
inverse co-ordinate transformation (separated order).
The software creates ASCII files. The download and upload of each robot
program is performed with the communications software of third party robots
manufacturer (e.g. ROB.EXE from SIEMENS and OLP3 from ABB) or directly in cases
where is allowed by specific robot systems (e.g. S4 from ABB, ACR - SIEMENS, KRL
32 and C1).
The system includes the register of axis status when locations are created.
This feature avoids uncertainty on the inverse kinematics solution.
With a proprietary principle is possible to convert a set of locations in a
program file post-process this file and simulate or download the program
immediately.
The ROBOT3D system allows the calculation of cycle times, PTP, linear and
circular motion in 3D space. Coupling with external axis. It has support for
Frames (ZOF), incremental and absolute programming, mathematical functions,
subroutines, I/O simulation, grippers, parametric programming, object
manipulation functions in the workcell, and other. The system is supported by a
complete user manual.
The package includes a CAD and calibration module (Translations and
rotations, Frame calculation) , programming editor and bi-directional translator
to DXF format, communication module and utilities (e.g. mirror). Available
language post-processors are included. Output of cell is possible in DXF format.
The package has the advantage to introduce industrial robot concepts in a
very effective way and has been used for training in robotics in several courses
at ISQ - Quality an Welding Institute (OEIRAS - PORTUGAL).
Learning of the system is very easy. The estimation is that an operator with
basic computer knowledge (DOS, editor), CAD (for modelling only) and some
experience in on-line robot programming, is ready to explore the system with
only 16 hours training.
A demo diskette is available for evaluation. Also available from Internet
(see demo)
Example 1 - Bisiach & Carru Taurus Robot