We looked at a system last year, I'd have to go back to get the name. We did a test program and the code was ok coming off. It was just out of our price range at the time. If you're interested I can find the info. 

@matthewd92
Thanks for the update. I did work with such a software in the past for a robot milling/machining cell. These softwares are quite expensive so you really need to justify the cost if this in your project. In the past I used this software on a robot milling cell. It was a Fanuc robot that would mill 3D parts. So highly complex trajectories and a lot of points. Basically impossible, do to without the software. However, since I don't think UR is accurate enough for robot milling and with the path recording software developed by Robotiq, I was wondering what kind of UR applications could justify using such a software!

@Sebastien agreed!  Now that Robotiq has the path recording the only thing left that I would use simulation for is customer proof of concept but honestly, its usually just as fast to do it on the robot and then shoot a video for the customer and be done with it.

@matthewd92 @Sebastien Hi, I know an offline system for UR that is under development :) The Alpha version was already very helpful.

Could you tell me what application do you want to do with a UR and offline tool? What price is acceptable for you? How about 199$/Year?

Totally off subject, @Sebastien we use OnShape software as well, have for over a year and love it!  Highly recommend it to anyone looking for the future of 3D CAD. 

@Simon
this is really nice. I love the Essert video example! Will get in touch with you shortly for a live demo for sure!

Robotmaster does support UR robots, we have tested paths up to 20,000 points successfully using SCRIPT file formats on all three UR arms. The main differentiator of Robotmaster versus the various programing approaches is easily creating optimized and error-free programs. If you would like to discuss your application further please email us at info@robotmaster.com.

Hi @Sebastien,

OCTOPUZ software does have full support for UR robots with the UR3, UR5, and UR10 models available in our library of robots. Offline programming for UR has become very popular for us in path-oriented applications such as dispensing, polishing, spraying and more. You can find a sample video of a dispensing application using OCTOPUZ here: https://www.youtube.com/watch?v=Th7ezjM8xzA 

If you have any questions about our capabilities or would like to discuss any of your current processes feel free to contact us at info@octopuz.com

@Rob_OCTOPUZ
I was wondering what are the typical way that you see customer use to replicate simulated trajectories to real trajectories with the robot? Just so that you have there is a correct match between the simulation and the real cell. I know vision is an option but what else?

@Sebastien

Using a Work Coordinate System (user frame) is often accurate enough to replicate simulated trajectories with the robot, but this does depend on application. We have had users use vision, touch sensing, or a laser to locate the part as well as using a laser tracker for updating the robot path live as it is running. We have used force feedback before, but this is commonly used to maintain a surface or edge finish, not used for accuracy adjustment.

For UR robot support we currently create SCRIPT files, however after numerous requests, we are also in the process of adding more in-depth integration with the controller. Feel free to contact us at info@octopuz.com and we can discuss this further and walk through a live demonstration of OCTOPUZ.

I think a strong consideration for the ease of use of any OLP package (with UR) is the ability of that OLP software to generate a .urp file. Most of the OLP systems I am aware of only support the output of .script  This makes it VERY difficult to edit the program on Polyscope. Therefore the program becomes almost non-maintainable for the end user (operator on the factory floor that wants to adjust a program without OLP package). Octopuz is coming out with a release that generates .urp files directly. If, in addition to this, they allow their package to import .urp, then this will be a solution that has even more benefits to the OLP programmer as well as casual end user of the robot.

Interesting suggestion regarding read/write of URP files... With RoboDK you can run programs on the real robot from the computer on the fly. I'm not aware of any standard procedure to read/write URP files provided by Universal Robots. I believe they are compressed files. Is there an official document from Universal Robots that we can refer to?