Keywords: robotic simulation, visual components, ursim, wood industry.

This study presents an industrial case study of developing a robotics application from a virtual environment and directly deploying the programs to a collaborative robot. In the physical setup, we tested how unchanged code developed in the virtual environment performs when faced with the real concrete setup. Our study outlines remaining issues dealing, for example, with the surface roughness of wooden parts that the robot needs to grab. In the meantime, these are parameters that are difficult to consider in a virtual environment. In this specific example, deployment from simulation to actual environment must undergo through several fixing steps, and therefore might require as much effort as deploying the actual solution directly to the floor. However, we also noticed that developing in a simulation environment provides plenty of advantages such as not having to interrupt the production, fast development of parametrized robot movements, and being able to rapidly produce different working solutions for grabbing and disposing of pieces. Our study concludes that deployment of offline programming requires detail understanding of the virtual simulation software and robot programming interface. The balanced combination of offline simulation and online programming is required at the end for actual implementation.

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