Development of simulation and off-line programming software modules for 5-axis waterjet cutting gantry robot.

Date of Award


Publication Type

Master Thesis

Degree Name



Industrial and Manufacturing Systems Engineering

First Advisor

Salustri, Filippo A.,


Engineering, Industrial.



Creative Commons License

Creative Commons Attribution-Noncommercial-No Derivative Works 4.0 License
This work is licensed under a Creative Commons Attribution-Noncommercial-No Derivative Works 4.0 License.


The topic of this dissertation is development of the software modules for simulation and off-line programming of 5-axes waterjet cutting gantry robot. In order to verify and validate the quality of the written software modules, a 5-axes gantry robot manufactured by Flow Robotics Company and equipped with an Allen-Bradley 9 series controller has been used for testing. The mentioned simulation and off-line programming software modules are not stand alone applications, therefore they are dependent on the software platform they are written for. In this case, Workspace 5RTM software package serves the purpose of being the platform for the written add-ins. In order to get a proper simulation, the robot controller programming language---G code, has been translated to a common format to be used internally by the simulation package. The robot native language has been translated first into C and then to Workspace Simulation Language code, in order to call the motion planning routines through the Component Object Model (COM) interface. Flex and PRECCX together form a compiler-compiler tool used for translation. A supporting C file has been created to add the flexibility to the way PRECCX compiler works. (Abstract shortened by UMI.)Dept. of Industrial and Manufacturing Systems Engineering. Paper copy at Leddy Library: Theses & Major Papers - Basement, West Bldg. / Call Number: Thesis2000 .B67. Source: Masters Abstracts International, Volume: 43-03, page: 0958. Adviser: Filippo A. Salustri. Thesis (M.A.Sc.)--University of Windsor (Canada), 2001.