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The realistic robot simulation -RRS- interface

: Bernhardt, R.; Schreck, G.; Willnow, C.

Kopacek, P. ; International Federation of Automatic Control -IFAC-:
IMS '94. Intelligent Manufacturing Systems. Proceedings : IFAC-Workshop
Oxford: Pergamon Press, 1994
ISBN: 0-08-042235-7
Intelligent Manufacturing Systems <1994, Vienna>
Conference Paper
Fraunhofer IPK ()
controller model; industrial robot; kinematic modelling; off-line programming; simulation

Tools for simulation and off-line programming became an important means for economic application of industrial robots. Until now the accuracy of simulation was not sufficiently precise for reliable down-load and execution of the off-line generated programs. A main cause for this was the controller specific motion behaviour of the robots that could not be simulated with sufficient accuracy. The RRS-project was created to overcome this deficite. By defining a suitable interface, it was made possible to integrate original controller software for motion behaviour into off-line programming systems.