This presentation shows the robot software functions.

1. S M R A 1 6 0 3 – R O B O T P R O G R A M M I N G
Unit 1 Lecture 01
Robot Software Functions
Jeya Jeevahan, M.E., Ph.D.,
Assistant Professor,
Sathyabama Institute of Science and Technology,
Chennai, Tamil Nadu, 600119, India.

2. LEARNING OUTCOME(S)
At the end of the session, you will be able to:
Explain different functions that a robot software can perform.

3. R O B O T S O F T WA R E F U N C T I O N S
Robot
Software
Functions
1. Offline Programming
2. Robot Simulation/ Visualization
3. Robotic Middleware
4. Mobile Robot Planning
5. Realtime Path Planning

4. 1 . O F F L I N E P R O G R A M M I N G
Off-line programming is a robot programming method where the robot program is created independent from the actual
robot cell. The robot program is then uploaded to the real industrial robot for execution. This allows you to program a
robot without being physically connected to it.
Offline programming can save time and resources by reducing the need to take the robot out of production.
You can use a graphical interface or a scripting language to create robot programs and test them in a virtual
environment.
The offline programming environment utilizes a 3D CAD model of the robot work cell. Programs can be created,
simulated, and edited in the virtual space, which allows for troubleshooting and problem solving before the operation.
New programs can be created offline and uploaded to the robot, without interruption to the current program that is
running.

5. 1 . O F F L I N E P R O G R A M M I N G
ROBOTSTUDIO (ABB) RobotMaster
ROBOTGUIDE (FANUC) KUKA SIM

6. 2 . V I RT U A L S I M U L AT I O N / V I S U A L I Z AT I O N
These are software tools that mimic the physical properties and behaviors of real robots. You can use simulators to
design, test, and debug robot systems, as well as to train operators and users. Simulators can also help you visualize and
analyze robot data and performance
The robot software includes simulation and visualization tools that enable users to simulate robot movements and
program flows. This feature helps users to identify and eliminate potential errors before the actual process execution,
thus reducing downtime and enhancing the quality of the final product.
Robot simulators come in many forms. Some only allow for simple 2D simulation of specific aspects of robotics whilst
others include 3D simulation with complex physics engines and realistic environments.
Most robotics simulation software also has support for a wide variety of programming languages like C/C++, Java,
MATLAB, LabVIEW, and Python.
With robots entering new environments and verticals every day, robot simulators streamline the development cycle of
robots, trims expenses, and boost overall efficiency.

7. 2 . V I RT U A L S I M U L AT I O N / V I S U A L I Z AT I O N
NVIDIA Isaac Sim Gazebo
Webots RoboDK

8. 3 . R O B O T I C M I D D L E WA R E
Robotics middleware is used in complex robotics systems to allow different pieces of software to talk to each other. It
acts as a kind of translator, allowing the different components of a complex robotic system to communicate.
Robot middleware is a software layer that sits between hardware and applications. It provides tools, libraries, APIs and
guidelines to support the creation and operation of both robot components and robot systems.
It connects different components of a robot system, such as sensors, actuators, controllers, and applications.
Middleware facilitates data exchange, coordination, and integration among the components, and provides common
services and functions, such as communication, security, and logging.
Robotics middleware is generally used in applications where there are multiple components that need to work together
as part of a larger system such as aerial drones, industrial robotics, and underwater exploration vehicles.

9. 4 . M O B I L E R O B O T P L A N N I N G
This function enables a robot to navigate autonomously in a dynamic environment.
Mobile robot planning involves finding a feasible and optimal path from a start point to a goal point, while avoiding
obstacles and satisfying constraints. Mobile robot planning can use various algorithms, such as graph search, potential
field, and sampling-based methods.
VREP Realtime Robotics

10. 5 . R E A LT I M E PAT H P L A N N I N G
Motion planning is the process of finding a path through the roadmap from the current configuration to a goal
configuration. The challenging aspect of motion planning for computers is collision detection. In the field of robotics,
the computational process of moving a robot from one place to another in the optimal manner without collisions is
called motion planning.
But traditional motion planning relies on rigid software that only allows robots to follow absolute motion plans based on
a strict decision tree. It's always been too slow to be effective for robot and autonomous vehicle applications in dynamic
environments like a factory floor shared by robots and people alike.
Realtime motion planning allows a fleet (mobile robots, automated guided vehicles (AGVs), and forklifts) move robustly
and safely among humans in large, highly dynamic, unstructured environments.
Real-time motion planning is important for the motion of humanoid robots as it allows various parts of the robot to move
at the same time while avoiding collisions with the other parts of the robot. It can also make robots safer and more
versatile, allowing them to operate in environments with humans and adjust to imprecise object locations and
orientations.

11. 5 . R E A LT I M E PAT H P L A N N I N G
Source: Robotic Path Planning for NDT of Complex Shaped Surfaces - TWI (twi-global.com)

12. SUMMARY
In this presentation, different functions of a robot software were discussed.