Optimising robot motion planning through the integration of diverse process simulation tools

This paper focuses on the development of an interface integrating two different process simulation tools. The developed interface automatically reads in a program developed in the first OEM process simulation tool, converts the program and executes the same commands on the digital model in the second process simulation tool, allowing the utilisation of the Open Motion Planning Libraries of the latter for optimising path planning. The finally optimised path is converted into a program, which may be transferred to the robot controller. The cycle times of both the optimised program and the original program were compared in the OEM process simulation tool and on the real robot. It was found that the optimised paths were up to 16% faster in the simulation model and up to 6% faster on the real robot compared with the initial program. Finally, the overall cycle time of the optimised program was up to 5% faster in the simulation model and 2% faster on the real robot.