Patent ID: 8694296

Claim:
An integrated simulation system comprising: an instantiation of a workcell comprising a selected one of: both: a workcell adapted to: receive a workcell action; and provide a workcell response; and a workcell emulator adapted to imitate said workcell and to: receive said workcell action; and generate a simulacrum of said workcell; and a workcell simulator adapted to model said workcell and to: receive said workcell action; provide a simulated workcell response; and generate said simulacrum of said workcell; an instantiation of a robot manipulator comprising a selected one of: both: a robot manipulator adapted to: receive a robot manipulator action; and provide a robot manipulator response; and a robot manipulator emulator adapted to imitate said robot manipulator and to: receive said robot manipulator action; and generate a simulacrum of said robot manipulator; and a robot manipulator simulator adapted to model said robot manipulator and to: receive said robot manipulator action; provide a simulated robot manipulator response; and generate said simulacrum of said robot manipulator; a computing device adapted to: simultaneously display: said simulacrum of said selected workcell instantiation; a first visualization of said response of said selected workcell instantiation; said simulacrum of said selected robot manipulator instantiation; and a second visualization of said response of said selected robot manipulator instantiation; and receive input from an operator, and, in response thereto, selectively provide said workcell action and said robot manipulator action; and a programmable logic controller (PLC) comprising: a workcell controller module adapted to: receive said workcell action from said computing device, and, in response, provide said workcell action to said selected workcell instantiation; and receive said response from said selected workcell instantiation, and, in response, provide said workcell response to said computing device; and a robot manipulator controller module adapted to: receive said robot manipulator action from said computing device, and, in response, provide said robot manipulator action to said selected robot manipulator instantiation; and receive said response from said selected robot manipulator instantiation, and, in response, provide said robot manipulator response to said computing device.