A Web-Based Framework for Intuitive Offline Programming of Serial-Chain Robots with Environment Objects

The development of a three-dimensional (3D) simulation software designed for industrial serial-chain robotics applications is reported in this paper. The key features such as forward and inverse kinematics, environment interactions, teaching robot programs and simulating are emphasized. The simulation software can be used by industries for enabling accurate testing of robotic applications in a virtual environment. Key challenges in the development process such as performance optimization are discussed in detail. This paper serves as a valuable resource for those who wish to develop their own software for offline and online simulation from the ground up, providing insights into the technical and practical aspects of such a software.