The simulation of industrial robot systems

This paper describes the GRASP computer aided design system for modelling and evaluating industrial robot workplaces. GRASP satisfies a range of simulation needs within the context of designing, implementing and operating industrial robotic systems. The GRASP software may be used to investigate robots operating by themselves or, more likely, as part of an integrated cell. Facilities within GRASP assist workplace layout, position and velocity evaluations, clash detection and co-ordination between items. A robot library exists and is being extended, and an embryo off-line programming facility has been used under restricted conditions. GRASP has been used to help solve a wide range of practical industrial robot problems and has proved itself technically, and also as an educational tool, by showing how a proposed system would operate. The paper describes the facilities within GRASP.