TACO Programming for Parametric Designers
 
The use of industrial robots has gained substantial importance across various scientific disciplines. TACO is a software project that specifically addresses the integration of robots into scientific processes, offering a user-friendly interface for nonlinear processes.
 
The core idea behind TACO is to facilitate the programming, simulation, and control of industrial robots (such as KUKA, ABB, UR, HIWIN, etc.) directly within software environments like Rhinoceros 3D, Revit, Blender, or Maya. By establishing an active connection to the robot controller, users can efficiently manage robots using a swift and low-risk workflow. In cases where a robot controller isn't available, TACO can still be employed alongside platforms like KUKA Visual Components, ABB RobotStudio, or HIWIN HRSS, serving as an offline programming solution. The ultimate goal is to minimize the level of expertise needed for intricate robot movements and to present essential information to users in a straightforward and comprehensive manner.
 
The 3D view displays the inverse kinematics and provides information about potential collisions and singularity positions before the program is directly transmitted to the robot. With this workflow, users can review movements without the risk of causing damage. By employing TACO with parametric design software, it becomes possible to parametrically develop movements and create a familiar interface for users. Currently, a range of KUKA and ABB robot models are supported, and others will be added based on user requests.
 
TACO also offers non-movement related commands for the robot, enabling the creation of more advanced tasks. Through the utilization of IO ports on the robot, it is also possible to connect additional devices and custom tools to the robot's head, establishing communication with TACO. TACO then reads and utilizes calibration data from a connected robot controller, ensuring alignment between programming and simulation with the robot's movements. This yields a precise digital representation of the physical environment and guarantees a seamless digital-to-physical workflow. The capability to design custom tools as end-effectors for the robot opens up a wide array of applications.