Generally speaking, robot programming can be divided into online teaching programming and offline programming. Today, we will focus on offline programming, discussing the main problems encountered in practical applications of online teaching programming, and providing an in-depth analysis of the advantages, functions, and disadvantages of mainstream robot programming software.
Online programming with instruction features the following main problems in practical applications:
1. Online programming instruction is cumbersome and inefficient.
2. The accuracy is entirely determined by the instructor's visual estimation, and online programming for teaching complex paths is difficult to achieve satisfactory results.
Given the drawbacks of teach-based programming, offline programming emerged! What are the advantages of offline programming compared to teach-based programming?
1. Reduce robot downtime so that the robot can continue working on the production line while the next task is being programmed.
2. It keeps programmers away from dangerous working environments.
3. It has a wide range of applications, can program various robots, and can easily achieve optimized programming.
4. It can program complex tasks.
5. Facilitates modification of robot programs.
Commonly used offline programming software can be classified according to different standards. For example, it can be classified as domestic or foreign, or as general-purpose offline programming software and manufacturer-specific offline programming software.
Based on whether it's domestic or international, they can be divided into the following two major camps:
Domestic: RobotArt
Foreign countries: RobotMaster, RobotWorks, Robomove, RobotCAD, DELMIA, RobotStudio, RoboGuide
Based on general offline programming and manufacturer-specific offline programming, they can be divided into the following two major camps:
General: RobotArt, RobotMaster, Robomove, RobotCAD, DELMIA
Manufacturer-specific: RobotStudio, RoboGuide, KUKASim
Among foreign software, RobotMaster is relatively the strongest, based on the MasterCAM platform, and its advantage lies in generating CNC machining trajectories. RobotWorks and RoboMove are second best, but a complete set costs hundreds of thousands of dollars, so I haven't tried them yet. RobotCAD and DElMIA focus on simulation and are even more expensive than RobotMaster.
Robot manufacturers' offline programming software, with ABB's RobotStudio being powerful, merely puts the teaching process on the computer, focusing on simulation and cycle count.
After seeing these advantages and classifications of offline programming, are you eager to see what offline programming software looks like? Then read on~ Below is a detailed introduction to mainstream offline programming software.
01 RobotArt (China, free download and trial available)
RobotArt is a domestically developed offline programming software from Beijing Huahang Weishi. Frankly, while its functionality is slightly inferior to foreign counterparts like RobotMaster and DELMIA, it's still considered outstanding among domestic offline programming software. Their technology originates from the Robotics Institute of Beihang University and they possess several patents. Claiming to be the first commercially available offline programming software, it fills a gap in the domestic offline programming market. It offers a one-stop solution, from trajectory planning and generation to simulation and final post-coding, making it simple to use and relatively easy to learn. The software can be downloaded from their official website and tried for free.
Figure 1: Interface of RobotArt Offline Programming Simulation Software
advantage:
1) Supports multiple formats of 3D CAD models, including those with extensions such as step, igs, stl, x_t, prt (UG), prt (ProE), CATPart, and sldpart;
2) Supports offline programming operations for various brands of industrial robots, such as ABB, KUKA, Fanuc, Yaskawa, Staubli, KEBA series, Siasun, GSK, etc.
3) Possesses extensive experience in high-end aerospace applications;
4) Automatically identify and search for point, line, and surface information in CAD models to generate trajectories;
5) The trajectory is linked to the features of the CAD model; when the model moves or deforms, the trajectory changes automatically.
6) One-click optimization of trajectory and geometric level collision detection;
7) Supports multiple process packages, such as cutting, welding, spraying, deburring, and CNC machining;
8) Supports publishing the entire workstation simulation animation to web pages and mobile devices;
shortcoming:
The software does not support full production line simulation (it is not versatile enough) and does not support robots from small foreign brands. However, it is quite powerful for offline robot programming, and its functions are in no way inferior to foreign software.
02 RobotMaster (Canada, no trial period available)
Robotmaster, originating from Canada and distributed by Shanghai Aoka Automation, is currently a top-tier offline programming software among international brands, supporting almost all robot brands on the market (KUKA, ABB, Fanuc, Motoman, Staubli, KEMA, Mitsubishi, DENSO, Panasonic, etc.).
Chart 2: RobotMaster software interface
Features: Robotmaster seamlessly integrates robot programming, simulation, and code generation into Mastercam, improving the speed of robot programming.
advantage:
It can generate programs based on product models, suitable for cutting, milling, welding, spraying, etc. Its exclusive optimization features provide highly accurate kinematic planning and collision detection, supporting external axes (linear guide systems, rotary systems) and composite external axis combination systems.
shortcoming:
It currently does not support simultaneous simulation of multiple robots (it can only run on a single workstation). The secondary development based on MasterCAM is expensive; the enterprise version costs around 200,000 RMB. So pricey!!
03 RobotWorks (Israel, trial available)
RobotWorks is an offline programming and simulation software for robots from Israel. Similar to RobotMaster, it's a secondary development based on Solidworks. You need to purchase Solidworks before using it.
The main functions are as follows:
(1) Comprehensive data interfaces: Robotworks is developed based on the Solidworks platform. Solidworks can perform data conversion through standard interfaces such as IGES, DXF, DWG, PrarSolid, Step, VDA, and SAT.
(2) Powerful programming capabilities: It only takes four steps from inputting CAD data to outputting robot machining code.
Step 1: Create or import other 3D CAD data directly from Solidworks, select the defined robot tools, and assemble them with the workpiece to be machined into an assembly. All assembly fixtures and tools can be created and used by the customer using Solidworks.
Step 2: Select the tool in Robotworks, and then directly select the edge of the surface or spline curve to process and generate data points;
Step 3: Call the required robot database to start collision detection and simulation. Automatic corrections can be made at each data point, including tool angle control, lead wire settings, adding or removing machining points, adjusting the cutting sequence, and adding process parameters at each point;
Step 4: Robotworks automatically generates various robot codes, including Cartesian coordinate data, joint coordinate data, tool and coordinate system data, machining processes, etc., and saves different codes according to process requirements.
(3) Powerful industrial robot database: The system supports most of the mainstream industrial robots on the market and provides 3D digital models of various models of major industrial robots.
(4) Perfect simulation: The unique robot processing simulation system can automatically check for collisions and axis over-limits in the movement between the robot arm, tool and workpiece, automatically delete unqualified paths and adjust them, and can also automatically optimize the path to reduce idle time.
(5) Open process library definition: The system provides a completely open processing process instruction file library. Users can define and add their own unique processes according to their actual needs. Any added instructions can be output to the robot processing data.
shortcoming:
Robotworks is based on SolidWorks, but SolidWorks itself doesn't have CAM functionality, making programming cumbersome and resulting in low intelligence in robot kinematics planning strategies. What if you don't know SolidWorks, only UG and Pro/E...?
advantage:
It offers diverse trajectory generation methods, supports various robots, and supports external axes.
04ROBCAD (Germany, no trial available)
ROBCAD, a software developed by Siemens, is a large-scale application focused on production line simulation, and its price is among the highest in its class. It supports offline spot welding, multi-robot simulation, and simulation of non-robot motion mechanisms, providing precise cycle time simulation. ROBCAD was primarily used in the early stages of product lifecycle design: conceptual design and structural design. However, it has since been acquired by Siemens, is no longer updated, and is considered outdated.
Its main features include:
(1) Seamless integration with mainstream CAD software (such as NX, CATIA, IDEAS).
(2) Achieve 3D visualization of tools, robots and operators.
(3) Simulation of manufacturing units, testing and programming.
ROBCAD's main functions include:
(1) WorkcellandModeling: Design, management, and information control of the body-in-white production line. (2) SpotandOLP: Complete spot welding process design and offline programming. (3) Human: Implement human factors engineering analysis. (4) Paint, Arc, Laser, and other modules in Application: Realize simulation verification and offline program output for processes such as painting, arc welding, laser processing, and edge banding in manufacturing. (5) ROBCAD's Paint module: Design, optimization, and offline programming of painting, including automatic generation of painting routes, simulation of paint thickness for multiple colors, and optimization of the painting process.
shortcoming:
It's expensive, has limited offline functionality, and uses a Unix-based interface that's not user-friendly. Plus, it's no longer being updated!
Figure 4: ROBCAD software interface
05DELMIA (France, no trial available)
The automotive industry uses DELMIA!
DELMIA is a CAM software from Dassault Systèmes, while the renowned CATIA is a CAD software from the same company. DELMIA has six main modules, among which the Robotics solution covers engines, final assembly, and body-in-white in the automotive industry; fuselage assembly, repair and maintenance in the aerospace industry; and manufacturing processes in general manufacturing.
DELMIA's Robotics module is a scalable solution that leverages a powerful PPR integration hub for rapid robot cell creation, simulation, and verification. It is a complete, scalable, and flexible solution. Using DELMIA's Robotics module, users can easily:
(1) Download robots and other tool resources from a searchable resource catalog containing more than 400 robots.
(2) Utilize the work completed by the factory layout planning engineer.
(3) Further refine the layout of the resources required for the process in the work unit.
shortcoming:
DELMIA and Process & Simulate are both expert-level software, too difficult to operate, and unsuitable for vocational college students. They are more suitable for graduate students or higher in robotics. While DELMIA and Process & Simulate are very powerful, the official industrial versions cost millions of dollars each.
06 RobotStudio (Switzerland, no trial period available)
RobotStudio is software provided by ABB, a Swiss company, and is considered one of the best-developed software solutions among robot manufacturers. RobotStudio supports the entire robot lifecycle, using graphical programming, editing, and debugging of robot systems to create robot operations and simulate and optimize existing robot programs.
RobotStudio includes the following features:
(1) CAD Import. It can easily import data from various mainstream CAD formats, including IGES, STEP, VRML, VDAFS, ACIS, and CATIA. Robot programmers can use this precise data to create more accurate robot programs, thereby improving product quality.
(2) AutoPath function. This function can automatically generate the robot position (path) required to track the machining curve in just a few minutes by using the CAD model of the part to be machined, a task that usually takes hours or even days.
(3) Program editor. It can generate robot programs, enabling users to develop or maintain robot programs offline in the Windows environment, which can significantly shorten programming time and improve program structure.
(4) Path Optimization. RobotStudio can automatically detect and issue an alarm if the program contains robot movements that approach singularities, thus preventing this phenomenon from occurring in actual robot operation. The simulation monitor is a visual tool for robot motion optimization; red lines indicate areas for improvement to ensure the robot operates in the most efficient manner. Optimization can be performed on TCP speed, acceleration, singularities, or axes of motion, reducing cycle time.
(5) Accessibility analysis. Autoreach can automatically perform accessibility analysis, which is very convenient to use. Users can move the robot or workpiece at will until all locations are accessible, and the work cell layout verification and optimization can be completed within minutes.
(6) Virtual teaching platform. It is a graphical display of the actual teaching platform, and its core technology is VirtualRobot.
Essentially, all the work that can be done on a physical demonstration platform can be done on a virtual demonstration platform.
It is completed on QuickTeach, making it an excellent teaching and training tool.
(7) Event Table. An ideal tool for verifying the structure and logic of a program. During program execution, the I/O status of the work unit can be directly observed through this tool. I/O can be connected to simulation events to realize the simulation of the robot and all equipment in the workstation. This function is an ideal debugging tool.
(8) Collision Detection. The collision detection function can prevent serious damage caused by equipment collisions. After selecting the objects to be detected, RobotStudio can automatically monitor and display whether these objects will collide during program execution.
(9) VBA functionality. VBA can be used to improve and expand RobotStudio functionality, and powerful external plugins, macros, or customized user interfaces can be developed according to specific user needs.
(10) Direct upload and download. The entire robot program can be directly downloaded to the actual robot system without any conversion. This function is made possible by ABB’s unique VirtualRobot technology.
shortcoming:
It only supports ABB brand robots, and compatibility between robots is very poor. Integrators can't just do ABB projects!
Figure 8: RobotStudio software interface
07 Robomove (Italy, no trial available)
Robomove, originating from Italy, supports most robot brands on the market. Robot machining trajectories are imported from external CAM systems. Unlike other software, Robomove takes a customized approach, tailoring its solutions to specific projects. The software offers flexible operation, comprehensive functionality, and supports simulation of multiple robots.
shortcoming:
The operator needs to have a deep understanding of the robot, and the level of intelligence of the strategy is significantly different from that of Robotmaster.
There are other general-purpose offline programming software programs, which will not be discussed in detail here. They usually also have good offline simulation capabilities, but due to limitations in technology and other factors, they are still considered to be in the second tier. Examples include SproutCAM, RobotSim, Chuansite, Tianhuang, Yalong, Xushang, and Huibo. The above introduces seven commonly used mainstream offline programming software programs, mainly analyzing their functions, advantages, and disadvantages.
08 RoboGuide (USA, trial available)
The RoboGuide family of process-centric software packages allows users to create, program, and simulate robotic work cells in 3D without the physical requirements and costs of prototyping work cell setups. Offline programming with ROBOGUIDE, using virtual robot and work cell models, reduces risk by enabling visualization of single and multiple robotic work cell layouts before actual installation.
These specialized offline programming software programs share similar and obvious advantages and disadvantages. Because they are developed either in-house or outsourced by the robot manufacturers, they have access to the underlying data interfaces, enabling the development of more functions and smoother, more natural communication between the software and hardware. Therefore, these software programs have a high degree of integration and come with corresponding process packages.
shortcoming:
It only supports robots from our own brand, and the compatibility between robots is very poor.
