Tham khảo tài liệu 'robot manipulators trends and development 2010 part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 32 Robot Manipulators Trends and Development Fig. 4. Simulation tool modules Off-Line Programming Hybrid programming is a combination of both of the robotic programming methodology advantages shown above. By using both advantages the programming technique can be optimized. A robot program consists mainly of two parts locations position and alignment and program logics controller structures communication and calculations . The program logics debugging and simulation facilities are effectively developed on off-line programming. The main part of the movement can be created off-line by reusing the availability of CAD data and by programmer interaction. Commands for movement to locating the piece placement in the robot s workcell can be more properly programmed on-line. In this situation the advantages of both programming method can be utilized indirectly increasing the flexibility in production. The usage of hybrid programming is a very practical way of increasing flexibility in production and thereby increasing the effect of robot manufacturing. In the same way rearrangement time can be substantially reduced allowing for cost effectiveness even in the production of small batches. Simulation Packages The robotic simulation package is a tool which is used to create embedded applications for a specific or not robot without depending physically on the actual robot thus saving cost and time. In some cases the applications that were developed with the simulation package can be transferred to the real robot without modifications. This application allows the user to create a simple world and to programme this robot to interact with these worlds. Most robotic simulation packages have their own unique features but the main features for 3D modelling are robot rendering and environment. This type of robotics software has a simulator that is a virtual robot which is capable of emulating the motion of an actual robot in a real work envelope. Some robotic simulation tools
