Robot Application Development System

Abstract

A robot application development system (10) includes a robot application unit (20) configured to determine a robot application (A) for an industrial robot for processing a workpiece, wherein the robot application (A) defines the industrial robot (100) in a robot workspace; an input interface (40) configured to receive robot application information (IA) characterizing the robot application (A); an object data interface (50) configured to receive workpiece information (IW) characterizing the workpiece (120); and a gripper finger design unit (30) configured to determine a gripper finger design (G) of the gripper fingers (110) of the industrial robot (100); wherein the robot application unit (20) is configured to determine the robot application (A) using the robot application information (IA); wherein the gripper finger design unit (30) is configured to determine the gripper finger design (G) using the workpiece information (IW) and the robot application information (IA).

Description

Technical Field

[0001] The present invention relates to a robot application development system, a robot application development method, and a corresponding computer program. Background Art

[0002] For robot applications of industrial robots, the gripper fingers of the industrial robot define an important part of the application. Today, the gripper finger design, especially the CAD-based gripper finger design, is almost separately completed by CAD engineers using their accustomed CAD systems from the robot application development process. Simple web tools are known, in which one can upload the CAD model of the workpiece, select the gripper type, configure the position and dimensions, and the tool generates an STL file for 3D printing of the gripper fingers. All these steps are separated from the robot application development process or the tool environment. The robot application engineer has no appropriate tool support. He has to understand the CAD system and finger design or external service relays. In any case, the gripper finger design is carried out manually. Summary of the Invention

[0003] Therefore, an object of the present invention is to provide an improved robot application development system. This object is achieved by the robot application development system and method according to the independent claims. Further preferred embodiments are apparent from the dependent patent claims.

[0004] According to the present invention, a robot application development system includes: a robot application unit configured to determine a robot application of an industrial robot for processing a workpiece, wherein the robot application defines the industrial robot in a robot workspace; an input interface configured to receive robot application information characterizing the robot application; an object data interface configured to receive workpiece information characterizing the workpiece; and a gripper finger design unit configured to determine a gripper finger design of the gripper fingers of the industrial robot. The robot application unit is configured to use the robot application information to determine the robot application. The gripper finger design unit is configured to use the workpiece information and the robot application information to determine the gripper finger design.

[0005] The term "gripper finger design" used herein includes the shape of the gripper fingers. In other words, the gripper finger design includes the shape and / or the position of the openings in the gripper fingers.

[0006] Preferably, processing the workpiece includes assembling the workpiece from a plurality of workpiece parts. This preferably includes bonding, screwing, pressing, etc.

[0007] Preferably, the gripper finger design unit is configured to automatically determine the gripper finger design using the workpiece information and the robot application information. Further preferably, the gripper finger design unit is configured to at least partially automatically determine the gripper finger design.

[0008] The robot application unit preferably provides a robot application design function that allows the user to load or create 3D models of workpieces and industrial robots.

[0009] Preferably, the workpiece information includes a description of the workpiece, the product structure in the case where the workpiece has to be assembled, object type information (in particular, the screw of a jack), additional design features (in particular, alignment axes or planes) used by a mechanical engineer to design the workpiece, and / or manufacturing information (in particular, the weight of the workpiece or the forces to be applied to the workpiece).

[0010] Preferably, the gripper finger design unit determines the gripper finger design taking into account the secure gripping of the workpiece, the minimum weight of the gripper finger, and / or the minimum footprint of the gripper finger.

[0011] Preferably, the user uses a robot application, or in other words a robot application software, to perform the desired operations of the robot. Additionally, the determined robot application can be a virtual robot application, in other words, a simulated robot application, or a real robot application.

[0012] Preferably, the gripper finger design unit is configured to integrate multiple gripper finger designs into a single gripper finger design based on the provided robot application information and workpiece information. In other words, even if different types of gripper finger designs are required, the gripper finger design unit is configured for local clustering tasks. When the gripper finger design unit is able to integrate two or more gripper finger designs into one gripper finger design and thus into one gripper, changing the gripper finger during the robot application can be avoided.

[0013] Therefore, the gripper finger design is integrated into the robot application development environment, particularly the described robot application development system. Thus, direct support is provided to robot application engineers to design the gripper finger based on the robot application. Additionally, the gripper finger design and the robot application can generally be adjusted seamlessly.

[0014] Furthermore, as a whole, the gripper finger design and the robot application can be adjusted automatically by the robot application design system, manually by the user, or semi-automatically by the robot application design system and the user.

[0015] Therefore, an improved robot application development system is provided.

[0016] In a preferred variant of the present invention, the robot application information includes the layout of the robot working space, at least one movement of the industrial robot, and the motion of the industrial robot.

[0017] In other words, the robot application information includes information about the type of movement of the industrial robot, or in particular information about the gripper fingers. For example, the robot application information defines whether a workpiece or a part of the workpiece is swept or pressed or twisted or screwed during the robot application.

[0018] Preferably, the robot application unit is configured to be defined or adjusted by the user for the robot application information.

[0019] In other words, the gripper finger design unit is configured to at least partially automatically determine the gripper finger design in consideration of the layout of the robot working space, at least one movement of the industrial robot, and the motion of the industrial robot. In other words, the gripper finger design unit is configured to consider any obstacles in the robot working space that may cause a collision with the gripper fingers during the robot application.

[0020] Therefore, an improved robot application development system is provided.

[0021] In a preferred variant of the present invention, the gripper finger design includes at least one opening for gripping, a gripping position, and / or a gripping orientation.

[0022] Therefore, the gripper finger design includes an opening, or in other words, notches that are suitable in shape, orientation, and quantity for the robot application.

[0023] Therefore, an improved robot application development system is provided.

[0024] In a preferred variant of the present invention, the gripper finger design unit is configured to automatically determine the default gripper finger design using the workpiece information and the robot application information.

[0025] The default gripper finger design refers to the gripper finger design automatically determined by the gripper finger design unit and presented to the user as a default option, rather than a general gripper finger design that has not yet been connected to the robot application.

[0026] Preferably, the gripper finger design unit is configured to automatically determine the default gripping position and / or the default gripping orientation.

[0027] Preferably, the gripper finger design unit is configured to adjust the gripping position and / or the gripping orientation based on the default gripping position and the user input.

[0028] Therefore, an improved robot application development system is provided.

[0029] In a preferred variant of the present invention, the gripper finger design unit is configured to automatically determine a plurality of possible gripping positions and / or gripping orientations.

[0030] In other words, the gripper finger design unit takes into account the provided workpiece information and robot application information to suggest possible gripping positions and / or gripping orientations to the user.

[0031] Therefore, an improved robot application development system is provided.

[0032] In a preferred variant of the present invention, the workpiece information includes geometric shape information of the workpiece.

[0033] In a preferred variant of the present invention, the input interface is configured to receive robot application information input by the user.

[0034] Preferably, the input interface allows the user to load 3D models of the objects involved in the robot application (in other words, at least one workpiece, obstacle, industrial robot) from a CAD database into the robot application development system.

[0035] Therefore, an improved robot application development system is provided.

[0036] In a preferred variant of the present invention, the gripper finger design unit is configured to generate CAD data for a 3D-printed workpiece for the gripper finger based on the gripper finger design.

[0037] Preferably, the gripper finger design unit is configured to directly export the CAD for 3D printing the gripper finger. Alternatively, the gripper finger design unit is configured to store the CAD data for later use.

[0038] Preferably, the CAD data includes an STL file for 3D printing.

[0039] Therefore, an improved robot application development system is provided.

[0040] In a preferred variant of the present invention, the object data interface is configured to receive workpiece information from a CAD database.

[0041] Preferably, the object data interface is configured to receive workpiece information from a CAD database by the user loading the workpiece information.

[0042] In a preferred variant of the present invention, the robot application development system includes a simulation unit configured to provide a simulation function for the robot application.

[0043] Preferably, the simulation function is configured to test-run the robot application, especially taking into account the gripper finger design and robot application information.

[0044] In other words, the simulation function is integrated into the robot application development system.

[0045] Therefore, by providing the optimization of the developed robot application including the gripper finger design through the integrated simulation capabilities, a large amount of data exchange between CAD and the robot simulation software is avoided.

[0046] The simulation unit is preferably configured to simulate the robot application with the at least partially automatically determined gripper finger design. After the user has adjusted the gripper finger design, the simulation unit is configured to re-run the simulation of the robot application with the adjusted gripper finger design.

[0047] In a preferred variant of the present invention, the input interface includes a user interface configured for user interaction.

[0048] The user interface preferably includes 2D user interface elements.

[0049] In a preferred variant of the present invention, the robot application development system includes a 3D view unit providing at least one 3D view of the robot workspace layout, where the robot workspace layout includes the industrial robot and the workpiece involved in the robot application.

[0050] Therefore, the 3D view unit provides at least one 3D view of the automatically determined gripper finger design, and then the user can manually fine-tune the 3D view.

[0051] Therefore, most of the work in the gripper finger design is already automatic before the user manually designs the gripper finger design.

[0052] Therefore, an improved robot application development system is provided.

[0053] In a preferred variant of the present invention, the input interface is configured to allow the user to directly manipulate the 3D view of the robot workspace layout.

[0054] Therefore, an improved robot application development system is provided.

[0055] Preferably, the input interface is configured to allow the user to directly manipulate the gripper finger design, in particular to adjust the grasping position and / or the grasping orientation in the 3D view of the robot workspace layout.

[0056] Therefore, an improved robot application development system is provided.

[0057] The present invention also relates to a method for developing a robot application, including the following steps. Receive robot application information characterizing the robot application. Receive workpiece information characterizing the workpiece. Determine the robot application of the industrial robot for processing the workpiece, where the robot application defines the industrial robot in the robot workspace. Determine the fixture finger design of the fixture fingers of the industrial robot. Use the robot application information to determine the robot application. Use the workpiece information and the robot application information to determine the fixture finger design.

[0058] Preferably, the method for developing a robot application is a computer-implemented method.

[0059] The present invention also relates to a computer program which, when executed on a robot application development system as described herein, instructs the robot application development system to perform the steps of the method for developing a robot application as described herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Hereinafter, the subject matter of the present invention will be explained in more detail with reference to the preferred exemplary embodiments shown in the drawings, in which:

[0061] Figure 1 The robot application development system is schematically shown;

[0062] Figure 2 The fixture fingers for gripping the workpiece shown in the clamping 3D view unit are schematically shown;

[0063] Figure 3 The method for developing a robot application is schematically shown;

[0064] Figure 4a A perspective view of the fixture fingers for gripping the first workpiece is shown;

[0065] Figure 4b A perspective view of the fixture fingers for gripping the second workpiece is shown;

[0066] Figure 4c A perspective view of the fixture fingers is shown;

[0067] Figure 5a A schematic view of the fixture finger blank and the workpiece is shown;

[0068] Figure 5b A schematic view of the fixture fingers in the position of the workpiece is shown;

[0069] Figure 5c A schematic view of the fixture fingers having a swept cross-section is shown; and

[0070] Figure 5d A schematic view of the final fixture fingers is shown.

[0071] The reference numerals used in the drawings and their meanings are listed in a summary form in the list of reference numerals. In principle, the same components have the same reference numerals in the drawings. Detailed implementation

[0072] Figure 1 A schematic diagram of a robot application development system 10 is shown. The robot application development system 10 includes a robot application unit 20, a gripper finger design unit 30, an input interface 40, an object data interface 50, a 3D view unit 60, and a simulation unit 70.

[0073] In this case, the robot application development system 10 is robot application development software that the user U uses to develop a robot application A. The robot application A includes the configuration of an industrial robot that processes workpieces in a robot workspace. The physical or simulated implementation of the robot application A is called a robot system 80. The robot application development system 10 is also used by the user U to design a gripper finger design G for the gripper fingers of the industrial robot used in the robot application A. Therefore, in a specific robot application A, the gripper finger design G is used to construct suitable gripper fingers for the industrial robot. In this case, based on the gripper finger design G determined by the robot application development system 10, the gripper fingers are 3D printed by a 3D printing unit 90.

[0074] The input interface 40 is configured to receive robot application information IA from the user U. The robot application information IA includes all the necessary data of the robot application A that should be executed by the robot system 80. For example, the robot application information IA includes information about the final product, and the workpieces are processed by the industrial robot. In addition, the robot application information IA includes the number of industrial robots used in the robot system 80, as well as the general workspace layout, movement, and orientation of the industrial robot. The robot application information 1A is provided to the robot application unit 20 and the gripper finger design unit 30.

[0075] The object data interface 50 is configured to receive workpiece information IW. The workpiece information IW includes the CAD data of the workpiece and is provided by a CAD database DB. The workpiece information IW is provided to the gripper finger design unit 30.

[0076] The robot application unit 20 is configured to determine a robot application A based on the provided robot application information IA. The gripper finger design unit 30 is configured to determine a gripper finger design G based on the provided robot application information IA and the provided workpiece information IW. Thus, the gripper finger design unit 30 can not only determine the gripper finger design G based on the workpiece information IW, but also take into account additional boundaries set by the robot application A itself. This may include specific directions along which the gripper fingers have to move, the accessibility of the workpiece during the robot application, obstacles located in the obvious movement paths of the industrial robot or the gripper fingers. For example, the tasks of the industrial robot itself are also taken into account, for example, if the workpiece has to be swept or pressed into a recess.

[0077] In this embodiment, the user U can directly input his robot application information IA into the 3D view unit 60, for example, by mouse input or keyboard input. The 3D view unit 60 provides a 3D view of the robot workspace, showing all the objects involved in the robot application A. This includes the industrial robot with its gripper fingers and the workpiece processed by the industrial robot. In addition, this includes any type of obstacle. The 3D view unit 60 is provided by the robot application function FA from the robot application unit 20 and the gripper finger function FG from the gripper finger design unit 30.

[0078] Thus, a 3D view of the robot application A and the gripper finger design G can be provided to the user U by the 3D view unit 60. In a first step, based on the robot application information IA and the workpiece information IW, the gripper finger design unit 30 automatically provides a default gripper finger design GD.

[0079] Then, the user U has the possibility to adjust the gripper finger design G according to the provided 3D view of the robot application A. For example, the gripper finger design unit 30 provides the user with a plurality of possible gripping positions and / or gripping orientations, all of which are consistent with the provided robot application information 1A. Then, the user U can select one of the provided possibilities or even modify the gripper finger design G.

[0080] In addition, the simulation unit 70 also has a robot application function FA and a gripper finger design function FG, and provides its simulation function FS to the 3D view unit 60. Thus, the user U can view the simulation of at least a part of the robot application, or in other words, the processing of the workpiece, and base his actions on the simulation function FS. In other words, the simulation unit 70 runs a simulation test run of the robot application A using the currently proposed gripper finger G or the default gripper finger GD in the first step. Then the simulation result S is provided back to the robot application unit 20 and / or the gripper finger design unit 30. The simulation result S may include information about possible collisions of the industrial robot or the gripper finger, as well as problems during the gripping process, such as displacement of the workpiece during the gripping process.

[0081] If the user is satisfied with the robot application A and the gripper finger design G, the gripper finger design G is provided to the 3D printing unit 90 for printing the gripper finger, and the robot application A is provided to the robot system 80 that implements the robot application A.

[0082] Thus, the robot application development system 10 provides an improved robot application A with an improved gripper finger design G.

[0083] Preferably, the robot application development system is implemented as a programming software module or process respectively; however, those skilled in the art will understand that the robot application development system can be implemented completely or partially in hardware.

[0084] Figure 2 The gripper finger 110 of the industrial robot 100 is schematically shown, which holds the workpiece 120 shown by the 3D view unit 60. In this case, the workpiece 120 is the first workpiece 120 that is the head of the figure. The head should be inserted into the body of the figure, which is the second workpiece 130 in this case. The robot application information IA includes information that there is an obstacle 140 in the form of a cuboid due to the production process in the robot application A. Therefore, in order to avoid the industrial robot 100 from colliding with the obstacle 140, the gripping position must also consider the insertion movement, which is from top to bottom in this case. In other words, any recess or opening of the gripper finger 110 for gripping the first workpiece 130 needs to consider this special case. In this case, compared with the case without the obstacle 140, due to the direction of gripping, the recess of the gripping finger 110 for holding the workpiece 120 may need a steeper shape.

[0085] The 3D view unit 60 also includes a user interface UI for the user U to directly adjust the gripping position and any other properties of the gripper finger 110, such as the length or size of the fingers of the gripper finger 110. In this case, the user interface UI allows the user U to change the gripping angle of the gripper finger 110 in three-dimensional directions marked by the first angle adjuster UI1, the second angle adjuster UI2, and the third angle adjuster UI3.

[0086] In this case, the gripper finger 110 shown in the 3D view has been automatically determined by the default gripper finger design GD based on the provided robot application information IA and the provided workpiece information IW. Therefore, if any correction is necessary, the user only needs to provide a slight correction to the gripper finger 110.

[0087] Figure 3 A robot application development method including the following steps is schematically shown. In the first step S1, robot application information characterizing the robot application is received. In the second step S2, workpiece information characterizing the workpiece is received. In the third step, a robot application of an industrial robot for processing the workpiece is determined, where the robot application defines the industrial robot in the robot workspace. In the fourth step, a gripper finger design of the gripper finger of the industrial robot is determined, where the robot application is determined using the robot application information, and where the gripper finger design is determined using the workpiece information and the robot application information.

[0088] Figure 4a - Figure 4c A perspective view of a gripper finger 210 of another embodiment capable of holding a third workpiece 220 and a fourth workpiece 230 is shown. A gripper finger design unit 30 providing a gripper finger design G can provide a first recess I1 and a second recess I2 for the gripper finger 210, where the first recess I1 is for gripping the fourth workpiece 230, and the second recess I2 is for gripping the third workpiece 220.

[0089] As can be seen from Figure 4c the first recess I1 includes an unusual angle for holding the third workpiece 220. However, due to the combined robot application information IA and workpiece information IW, the gripper finger design unit 30 can provide the depicted gripper finger design.

[0090] Figure 5a - Figure 5d A schematic diagram showing the geometry of the gripper finger design is shown.

[0091] The gripper finger blank 310a is disposed near the fifth workpiece 320. The gripper finger design unit 30 determines the depth of gripping the fifth workpiece 320 and overlaps the gripper finger blank 310a with the fifth workpiece 230. The overlapping portion is determined as an opening. In this case, the opening is determined as the third recess I3 and the fourth recess I4. This results in the intermediate gripper finger 310b. However, due to the known gripping orientation, considering the gripping direction, the gripper finger design unit 30 artificially increases the shape of the fifth workpiece 320 at the recesses. Accordingly, the fifth recess I5 and the sixth recess I6 are determined, and finally the gripper finger design 310c for a specific robotic application A is completed. In this case, two gripper finger designs are integrated into a single gripper finger design. Thus, changing the gripper finger during the robotic application can be avoided.

[0092] In addition, the gripper finger design unit 30 is configured to optionally expand the cutting volume of the recesses to account for tolerances, which are preferably provided by the robotic application information. Additionally, the gripper finger design unit 30 is preferably configured to smooth or chamfer the edges of the gripper finger design 310c based on the robotic application information. In a final step, the gripper finger design unit 30 is preferably configured to cut unnecessary regions from the gripper finger design 310c to minimize the size and weight of the gripper finger design 310c.

[0093] It should be noted that, compared to the relatively simple method for sweep cutting described, since the gripper finger design unit 30 is provided with robotic application information, the gripper finger design unit 30 is able to consider more complex sweep paths.

[0094] List of reference symbols

[0095] 10 Robotic application development system

[0096] 20 Robotic application unit

[0097] 30 Gripper finger design unit

[0098] 40 Input interface

[0099] 50 Object data interface

[0100] 60 3D view unit

[0101] 70 Simulation unit

[0102] 80 Robotic system

[0103] 90 3D printing unit

[0104] 100 Industrial robot

[0105] 110 Gripper finger

[0106] 120 First workpiece

[0107] 130 Second workpiece

[0108] 140 Obstacle

[0109] 210 Fixture finger

[0110] 220 Third workpiece

[0111] 230 Fourth workpiece

[0112] 310a Fixture finger blank

[0113] 310b Intermediate fixture finger

[0114] 310c Fixture finger design

[0115] 320 Fifth workpiece

[0116] 330 Sixth workpiece

[0117] I1 First recess

[0118] I2 Second recess

[0119] I3 Third recess

[0120] I4 Fourth recess

[0121] I5 Fifth recess

[0122] I6 Sixth recess

[0123] A Robot application

[0124] G Fixture finger design

[0125] GD Default fixture finger design

[0126] IA Robot application information

[0127] IW Workpiece information

[0128] FA Robot application function

[0129] FG Fixture finger design function

[0130] FS Simulation function

[0131] S Simulation output

[0132] U User

[0133] DB CAD database

[0134] UI User interface

[0135] UI1 First angle adjustment device

[0136] UI2 Second angle adjustment device

[0137] UI3 Third Angle Adjustment Device

[0138] S1 First Step

[0139] S2 Second Step

[0140] S3 Third Step

[0141] S4 Fourth Step

Claims

1. A robot application development system (10), comprising a robot application unit (20) configured to determine a robot application (A) for an industrial robot for processing a workpiece, wherein the robot application (A) defines the industrial robot (100) in a robot workspace; an input interface (40) configured to receive robot application information (IA) characterizing the robot application (A); an object data interface (50) configured to receive workpiece information (IW) characterizing the workpiece (120); and a gripper finger design unit (30) configured to determine a gripper finger design (G) of the gripper fingers (110) of the industrial robot (100); wherein the robot application unit (20) is configured to determine the robot application (A) using the robot application information (IA); wherein the gripper finger design unit (30) is configured to determine the gripper finger design (G) using the workpiece information (IW) and the robot application information (IA), wherein the robot application development system (10) is used by a user (U) to design the gripper finger design (G) of the gripper fingers (110) of the industrial robot (100) used in the robot application (A), and the robot application development system (10) is used by the user (U) to develop the robot application (A); wherein the gripper finger design unit (30) is configured to automatically determine a default gripper finger design (GD) using the workpiece information (IW) and the robot application information (IA), wherein the default gripper finger design (GD) relates to a gripper finger design automatically determined by the gripper finger design unit (30) and presented to the user as a default option.

2. The robot application development system according to claim 1, wherein the robot application information (IA) includes a robot workspace layout, at least one action of the industrial robot (100), and the movement of the industrial robot (100).

3. The robot application development system according to any one of claims 1-2, wherein the gripper finger design (G) includes at least one opening for gripping, a gripping position, and / or a gripping orientation.

4. The robot application development system according to any one of claims 1-2, wherein the gripper finger design unit (30) is configured to automatically determine a plurality of possible gripping positions and / or gripping orientations.

5. The robot application development system according to any one of claims 1-2, wherein the workpiece information (IW) includes geometric shape information of the workpiece (120).

6. The robot application development system according to any one of claims 1-2, wherein the input interface (40) is configured to receive the robot application information (IA) input by the user (U).

7. The robot application development system according to any one of claims 1-2, Wherein the gripper finger design unit (30) is configured to generate CAD data of the workpiece (120) based on the gripper finger design (G) for 3D printing of the gripper fingers (110).

8. The robot application development system according to any one of claims 1-2, Wherein the object data interface (50) is configured to receive the workpiece information (IW) from a CAD database (DB).

9. The robot application development system according to any one of claims 1-2, comprising A simulation unit (70) configured to provide a simulation function (SF) of the robot application (A).

10. The robot application development system according to any one of claims 1-2, Wherein the input interface (40) includes a user interface (UI) configured for user interaction.

11. The robot application development system according to any one of claims 1-2, comprising A 3D view unit (60) that provides at least one 3D view of the robot workspace layout, wherein the robot workspace layout includes the industrial robot (100) and the workpiece (120) involved in the robot application (A).

12. The robot application development system according to any one of claims 1-2, Wherein the input interface (40) is configured to allow the user (U) to directly manipulate the 3D view of the robot workspace layout.

13. A method for developing a robot application, comprising the steps of: Receiving (S1) robot application information (IA) characterizing a robot application (A); Receiving (S2) workpiece information (IW) characterizing a workpiece (120); Determining (S3) a robot application (A) of an industrial robot (100) for processing the workpiece (120), wherein the robot application (A) defines the industrial robot (100) in a robot workspace; Using a gripper finger design unit (30) to determine (S4) a gripper finger design (G) of the gripper fingers (110) of the industrial robot (100); Wherein the robot application (A) is determined using the robot application information (IA); and Wherein the gripper finger design (G) is determined using the workpiece information (IW) and the robot application information (IA); Wherein the robot application development system (10) is used by a user (U) to design the gripper finger design (G) of the gripper fingers (110) of the industrial robot (100) used in the robot application (A), and the robot application development system (10) is used by the user (U) to develop the robot application (A); Wherein the gripper finger design unit (30) is configured to automatically determine a default gripper finger design (GD) using the workpiece information (IW) and the robot application information (IA), wherein the default gripper finger design (GD) relates to a gripper finger design automatically determined by the gripper finger design unit (30) and presented to the user as a default option.

14. A computer program, when executed on the robot application development system according to any one of claims 1-12, instructs the robot application development system to perform the steps of the robot application development method according to claim 13.

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