## 2 State of the Art
### ABB RobotStudio  
The main method for improving the profitability of robotic systems is offline programming. ABB is one of the leading manufacturers at the national level and ranks second in terms of implemented units. As a result, there is a significant number of users who constantly require tools specifically developed for VC. ABB RobotStudio is the most important customized software platform for the products of a single company. However, even in the last 2024 release, it does not include a devoted VC software module, with the exception of the mode that makes VC for action [13]. ABB RobotStudio allows robot programming in an office using a computer, without interrupting the operation of the robotic cells. It also enables training, optimization, and programming without disrupting production. Revision 2021.4 brings features that optimize offline simulation and reduce the risks of errors from human operators, thus increasing productivity. The main reason for choosing RobotStudio Revision 2021.4 [14] is that the extensions of digital twin (DT) capabilities, which are the connections between virtual models and data that join the virtual world to the physical one, are included [15; 16]. Moreover, virtual reality (VR)/augmented reality (AR), virtual meeting (VM) technologies and collaboration features, Stop Position Simulation (SPS) solutions, and virtual commissioning capabilities are included. Using AR technology allows us to view both the robot and the peripheral robotic systems and accessories, overlapping the virtual environment over the real production environment as a hologram [17]. AR can be summed up as the transfer of virtual aspects to the real world using the computer. There is already growing competition from VR glass manufacturers [18]. Both process optimization and VC can be considered great responsibilities in a company. In many cases where a specific robotic integration is present, there is little information for the realization of VC and a solution to the problem must still be found [19]. The exemplified proposed solutions can serve as virtual instruments [20] for designing automated industrial processes. Simultaneously, they can be effectively employed in research and training within the realm of robotics, particularly in situations where access to actual industrial equipment and robots is restricted [21; 22]. For the realization of a VC system (Figure 4), a very important prerequisite is the design of the mechanical components. Consequently, the structure of the automation system and equipment specifications must be carefully analyzed [23]. At the same time, in order to add the virtual model to the program, all the mechanical components need to be correctly defined. Figure 4: Virtual commissioning comparison between ABB RobotStudio interface and reality. VC can also assess the adequacy of clearance around obstacles. To improve the evaluation and comprehension of a specific system's performance, the simulation serves as a virtual experiment by analyzing simulation results under various conditions up to the final implementation phase. The simulation component stands out as a pivotal element in realizing a VC scenario [24]. Virtual commissioning is often considered a hardware-in-the-loop configuration. In industry, this component is most often employed for verification purposes of the equipment and installations of virtual commissioning. In addition, there are other related concepts such as hybrid commissioning, where the real control is connected at the same time to the real industrial installation and to the digital simulation twin. The main advantage of a virtual implementation function is the shortening of the time for actual commissioning. Simultaneously, a DT virtual model is created that will be used for real implementation [24]. Especially in Industry 4.0, for which the cost of introducing new products and reducing the implementation time is very important, more and more companies in this market segment have shown a special interest in this technology.