Best offline programming software???

[TylerRobertson]

Hi asimo - You can program two different robots, and simulate two different robots but it would have to be a mutually exclusive process, yes - you can have jobs running at the same time, but generating the programming would be one robot at a time - Motion planning is done from a CAD model - the path is selected by using the model geometry, and whatever parameters are associated with a toolpath.  The types of geometric features used in the chaining of the path determines what type of motion the robot uses - approaches would be joint movement, circles would be arc moves, and so on. These motion parameters can all be customized. The motion planner in itself then is the CAD/CAM system

[asimo]

Thanks a lot for your answer TylerRobertson. As for the motion planner, do you know if it's possible to evaluate cycles time depending on the velocity and acceleration programmed in the software (imagine that I have different values in the same program)?

Thanks again!

[TylerRobertson]

hi asimo - sorry I didn't get back sooner:  motion planner is a typical to one offered in simulation only packages which slow down the programming process.  Our motion planner is less accurate but this is done to offer quicker programming.

[jseger]

If you want to play with robot geometry and dynamics you might want to look at Scilab and the RTSS toolbox. Both are free off the web.
You can do forward and inverse kinematics and simulation, transformations, quaternion/euler conversions, matrices etc. I've only been playing with it for about 3 months now, it does seem stable, well written and surprisingly powerful. They have a Puma 560 file built. I am a cheapskate.

I just downloaded scilab and rtss toolbox.  I'd like to learn more about it.  I haven't had time to mess with it.  Is there any advice you could give a newby?  I'm a little confused on how this could work for me or how I can utilize it.  Thanks.   

[Jim Tyrer]

I use it for calc'ing transforms, when you one taught point and you need a series of rotational motions before and/or after that one taught point. Like when snapping plastic parts together, or you could use it for welding paths, machining etc.....
If you want do fwd and inverse kinematics then 1st step would be to sit down and write a DH definition file for whatever robot arm you are using, and test it with a real bot or simulator.
It can simulate a custom "stick robot' that you can jog around, extract coords, get cycle times etc. The list goes on.

[jseger]

ok i'll mess around with it when i get a chance.  it messed with the robot demos in it and i haven't figured out exactly how its supposed to work.  i'll keep messing with it though.

[DP]

I've been using RobotWorks for a year now, trimming and milling operations on a Motoman ES200N. Works as a bolt-on to SolidWorks. Simple to use and cheap, but beware - you pay peanuts, you get monkey service. The software is bugged to hell and back with random crashes and oddities. After-sales support is marvellous though.

[jseger]

Yes I've played with Robotworks before.  It has a TON of potential.  I liked it a lot.  Maybe I'll buy it someday.  I mean the company.    

[DP]

Yes I've played with Robotworks before.  It has a TON of potential.  I liked it a lot.  Maybe I'll buy it someday.  I mean the company.    

Heh, I can put you in touch with Nathan, I'd love to be a fly on the wall for that conversation!

That Scilab and RTSS stuff sounds powerful, gonna download it later and have a mess! Cheers for the info.