[Yahir]

Hello RoboDK Community,

I am currently working on my bachelor thesis and using RoboDK to simulate and analyze a process performed by a UR16e cobot. The application involves the separation of hairpin pins in an electric motor stator, and my goal is to better understand the robot motions and process parameters in simulation before testing on the real system.

I already have the URScript program from the real robot, and I would like advice on the best way to use it for simulation in RoboDK. Specifically, I am considering two approaches:

1. Rewriting the motions in Python using the RoboDK API, or
   
2. Rebuilding the robot program by extracting waypoints and recreating the motion sequence directly in RoboDK.
   

Since the process involves contact and force interaction, I would also appreciate recommendations on how to reasonably approximate force-based behavior in RoboDK (e.g., contact phases, penetration depth, speed changes), knowing that RoboDK is primarily a kinematic simulator.
From your experience, which workflow would you recommend for this type of application, especially in the context of an academic study focused on motion analysis and process optimization?

Thank you very much for your time and advice!

[Albert]

Both the API or the UI should work to create your program in RoboDK and export it for the robot (UR robot or other robots).

The challenge would be to properly configure your force/torque sensor so it applies your desired strategy. To properly apply the desired effect you may need to customize your post processor and define the correct triggers for your force/torque strategy. You can contact us by email so we can provide you with the source code of the UR post processor which will allow you to customize it better.