RoboDK for robot simulation and offline programming. This example shows how you can simulate and program a robot arm for a robot painting application.RoboDK project are saved as a RoboDK station (RDK file). A RoboDK station contains all settings related to robots, tools, reference frames, targets, objects and other parameters. The RoboDK station is stored in one file (RDK extension).1.Select File➔ Open Robot Library (Ctrl+Shift+O). A new website should open showing the online library. You can also open the library by selecting the corresponding button in the toolbar.RoboDK by drag and dropping the file into the window.2.Double click the reference frame (on the tree or on the 3D geometry on the main screen) to enter the coordinates shown in the image (X,Y,Z position and Euler angles for the orientation). The mouse wheel can be used on top of each case to quickly update the position of the reference frame on the main screen. The following colors are used by default:If more than one reference frame is used, it is possible to drag and drop them inside the Station Tree to match the dependency that exists in the real setup. For example, the reference Frame 2 may be placed with respect to the robot base reference. In this case, if the UR10 Base reference is moved, Frame 2 is also moved with it. It is important to take this into account if other robots or reference frames are used. The next image shows the difference in dependency.Even if the dependency is different, it is still possible to enter or retrieve the coordinates of any reference frame with respect to any other reference frame, as shown in the next image. Most robot controllers require the coordinates of the reference frame with respect to the robot base frame.Reference frames can also be moved in the main screen by holding the Alt key, or selecting the corresponding button in the toolbar . Then, drag the reference with the mouse on the screen. As the reference is being moved, the corresponding coordinate values will be updated.RoboDK supports most standard 3D formats such as STL, STEP (or STP) and IGES (or IGS) formats. Other formats such as VRML, 3DS or OBJ are also supported (STEP and IGES are not supported on Mac and Linux versions).4.Once an estimate of the coordinates is obtained it is possible to touch up these values manually by double clicking the Paint gun object. The mouse wheel can be used on top of each case to quickly update the position on the main screen.2.Enter 180 in the yellow case (Z rotation) of the paint gun geometry, as shown in the following image. The mouse wheel can be used on top of each case to quickly update the position on the main screen.Robot positions are recorded as Targets. A Cartesian target defines the position of the tool with respect to a coordinate system. A Joint target defines the position of the robot given robot joint values.