Here's how you can master robotic simulation and modeling.

Before creating a robot simulation, you should define what you want to simulate - motion studies, reachability analysis, cycle time analysis, etc. Furthermore, it is important to define at which detail level you want to do the simulation and which further information and 3D models you need for that specific purpose, such as more or less exact models of workpieces, tools, fixtures, jigs, conveyors, etc.

In my experience, mastering the basics of robotics is crucial before diving into complex simulation software. Understanding kinematics and dynamics forms the foundation. Kinematics involves studying motion without considering forces, while dynamics focuses on the forces that cause motion. Familiarity with different types of sensors and actuators is also essential, as these components dictate how robots interact with their environment. Grasping these concepts makes it easier to comprehend how simulations replicate real-world scenarios.

There are lots of great software either directly from the robot manufacturer themselves of from 3D party companies like Visual Components, RoboDK, NVIDIA, etc. The one thing to always look at though is what do you want to do once you have that simulation and what are the goals of it to be used as a sales tool, offline program or during production digital twins.

Choice of robot simulation software depends on the physical characterisitics of the robots and their operating environments. For example, if you are modelling a soft robots, traditional robot simulators are not suitable for simulation as they assume rigid body motions in the simulation environment. Simulators with finite element analysis capability are recommended. If a networked robot system is simulated, simulators that support physics based simulation and different communications channels (Internet, mobile networks, satellite comm, underwater acoustic comm, etc.) simulation is recommended.

Gazebo is your best bet, especially if you are looking at ease of implementation within the ROS ecosystem. Unity is decent too, if you are primarily interested in a good visual representation.

In the industrial robot world, most manufacturers provide their own offline simulation software. For Yaskawa, this is the MotoSim software. Alternatively, you can also use 3rd party software, that models different industrial robot kinematics, such as ProcessSimulate

In my experience, creating an accurate model is the cornerstone of effective robotic simulation. Start by defining the physical parameters of the robot, including size, weight, and material properties. Incorporate the kinematic and dynamic equations that govern its movement. Paying close attention to the joints and links of the robot is essential, as these affect its range of motion and capabilities. A precise model ensures reliable simulations, so verifying all aspects of the robot’s representation is crucial.

One thing I’ve found helpful is running simulations iteratively to test different scenarios and identify potential issues. This approach helps in understanding how the robot performs under various conditions and allows for fine-tuning the model to achieve optimal performance.

To master robot simulation and modeling, immerse yourself in both theoretical understanding and practical application. Begin by grasping the fundamental concepts of robotics, including kinematics, dynamics, and control theory, through various resources like textbooks and online courses. Choose a simulation platform such as ROS, Gazebo, V-REP, or Webots, and follow tutorials available on the internet to gain hands-on experience. Dive into existing code examples provided in tutorials or open-source projects, dissecting them to understand their inner workings. Experiment with modifications to deepen your comprehension and skills. Whenever you encounter challenges or have questions, seek assistance from resources like ChatGPT.

The integration of simultaneous simulations with mechanical designs marks a significant leap forward. This innovative approach combines virtual modeling and physical prototyping to enhance the efficiency, accuracy, and flexibility of robotic systems. Simultaneous simulations with mechanical designs involve the concurrent development of virtual models and physical prototypes of robotic components or systems. This methodology allows engineers and designers to iterate more rapidly, validate designs effectively, and optimize performance before the fabrication of physical prototypes. As this methodology continues to evolve, it will play a pivotal role in accelerating innovation and driving advancements across various industries.