Robotic Arm Simulation Tools

While at CSO Engineering, I used RoboDK to simulate and program tasks for robotic arms. RoboDK is a user-friendly tool for offline programming, best suited for structured environments. However, in our case, while all objects in the environment were known, the positions of workpieces had significant variance, leading to challenges with singularities and potential collisions during robotic motions.

To address this, we performed extensive simulation testing, randomly varying the workpiece positions to identify problematic motions. After CSO Engineering shut down, I wanted to deepen my understanding of kinematics, singularities, and collision-free path planning, so I read up on these topics and created tools using the RoboDK API to further explore these concepts.