In order to directly program the robot and analyze its behaviour, the proprietary OLP software FANUC Roboguide with base package Handling Tool was adopted.
Within the Roboguideฎ environment it was possible to evaluate several specific solution for robotic machining, such as properly sized fingers of the gripper and jigs, with respect to the position and geometry of features to be machined, and also to evaluate the system layout to avoid collisions and robot singularities during the process.
OLP Roboguideฎ software and Solidworks were finally associated to automatically exchange CAD data (Fig. 6).