Abstract: Methods, systems, and apparatus, including medium-encoded computer program products, for integrating control and operation of multi-tooltip processes with computer-aided manufacturing and/or design software and systems include method(s) including: obtaining toolpaths for manufacturing a physical structure and process control constraints, each of the toolpaths corresponding to a respective tooltip of a computer-controlled tool of a manufacturing system, each of the toolpaths designates a respective path for the respective tooltip within a workspace, and the process control constraints define capabilities of each of the respective tooltips within the workspace; defining a main toolpath and metadata defining operational parameters for the toolpaths based on the process control constraints; simulating manufacturing of the physical structure using the main toolpath and the metadata; and providing at least the main toolpath and the metadata for use in manufacturing the physical structure by the computer-controlled

Abstract: Methods, systems, and apparatus, including medium-encoded computer program products, for integrating control and operation of multi-tooltip processes with computer-aided manufacturing and/or design software and systems include method(s) including: obtaining toolpaths for manufacturing a physical structure and process control constraints, each of the toolpaths corresponding to a respective tooltip of a computer-controlled tool of a manufacturing system, each of the toolpaths designates a respective path for the respective tooltip within a workspace, and the process control constraints define capabilities of each of the respective tooltips within the workspace; defining a main toolpath and metadata defining operational parameters for the toolpaths based on the process control constraints; simulating manufacturing of the physical structure using the main toolpath and the metadata; and providing at least the main toolpath and the metadata for use in manufacturing the physical structure by the computer-controlled

Abstract: Techniques are disclosed for controlling robots based on generated robot simulations. A robot simulation application is configured to receive a robot definition specifying the geometry of a robot, a list of points defining a toolpath that a head of the robot follows during an operation, and a number of simulations of the robot performing the operation. The simulation application then performs the number of simulations, displays results of those simulations, and generates code for controlling a physical robot based on a user selection of one of those simulations. During each simulation, if a robotic problem, such as an axis limit or a singularity problem, is encountered, then the simulation application attempts to resolve the problem by rotating the robot head in both directions about a tool axis and determining a smallest angle of rotation in either direction that resolves the robotic problem, if any.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for predictive machining for forging distortions. In one aspect, a method includes obtaining a mesh model of a machined part to be machined from a forged part and residual stress field data for the forged part, where the mesh model includes multiple nodes corresponding to at least one boundary of the machined part, updating the mesh model by applying the residual stress field data to the multiple nodes corresponding to the at least one boundary to change positions of the multiple nodes in the mesh model, repeating the updating until an amount of change to each of the positions of the multiple nodes in the mesh model satisfies a correction criteria, and providing the compensated mesh model for use in machining the machined part from the forged part.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for predictive machining for forging distortions. In one aspect, a method includes obtaining a mesh model of a machined part to be machined from a forged part and residual stress field data for the forged part, where the mesh model includes multiple nodes corresponding to at least one boundary of the machined part, updating the mesh model by applying the residual stress field data to the multiple nodes corresponding to the at least one boundary to change positions of the multiple nodes in the mesh model, repeating the updating until an amount of change to each of the positions of the multiple nodes in the mesh model satisfies a correction criteria, and providing the compensated mesh model for use in machining the machined part from the forged part.