Rokisim, Rokisim software

RoKiSim is a free multi-platform educational software tool for 3D simulation of serial six-axis robots developed at the Control and Robotics Lab of the École de technologie supérieure (Montreal, Canada). The user can jog the virtual robot in either its joint space or the Cartesian space (with respect to the tool frame, the base frame, or the world frame). The RoKiSim package comes with several popular industrial robot models (ABB IRB 120, ABB IRB 140, ABB IRB 1600/1.45, ABB IRB 4400, ABB IRB 6640-130, Adept Viper S650, CRS A465, FANUC LR Mate 200iC, FANUC M-710iC/50, FANUC M-710iC/50S, KUKA KR 5 sixx R650, KUKA KR 150 R3100, KUKA KR 270 R2700, KUKA KR 500, KUKA KR 1000 TITAN, Motoman MH5F, Motoman UP50N, PUMA 560, Stäubli TX40 and Stäubli TX200) as well as with seven end-effector tools. It is relatively easy to add new robot models, andquite trivial to add new end-effector tools (in ASCII STL format). The package also comes with simulations of the three types of robot singularities (wrist, elbow and shoulder) for some of the robot models. A simulationconsists of an ASCII file with a *.sim extension, containing a sequence of numerical values for the six articular variables, and another ASCI file with an *rks extension, specifying the robot and its tool.

Specification:

• Offline Programming
• Robot Machining
• Accuracy
• Robot Library