Accuracy enhancement in off-line programming for industrial robots

behaviour of control simulations has been unsatisfying, despite enormous efforts have been undertaken to rebuild the interpolation of real controls in simulation. Interested in exact simulation models for robot controls, the automobile manufacturers Audi, BMW, Ford, Mercedes, Opel, PSA, Renault, Volvo and VW initiated the project "Realistic Robot Simulation" RRS. The goal of the RRS project was to obtain modules that precisely simulate the motion behaviour of robots. The robot controller manufacturers ABB, Comau, Fanuc, KUKA, Renault Automation, Siemens, and VW as well as the simulation system manufacturer Dassault Systemes, Deneb, Silma, and Tecnomatix were all eager to join the project. The IPK Berlin (an independent research institute of the Fraunhofer Gesellschaft) was selected from among several applicants to serve as project manager.