VRPS (Virtual Robot Programming System)

VRPS (Virtual Robot Programming System) Overview

VRPS is a solution that provides Virtual Robot Programming to a real workpiece by intuitive operations using a VR device. 

Virtual Robot Programming System (VRPS) for Simplified Teaching

Conventional Programming / Programming with the VRPS

A programming teaches motions to a robot.
It requires a special skill and takes time.
Simple programming by intuitive hand-weld motions.
It lowers the specialty requirement and reduces time.

VRPS (Virtual Robot Programming System) Features

Virtual Robot Programming System with intuitive operation is realized by the VR (Virtual Reality).

G3/WG3/WGH3 model series + VR device* / Additional Software VRPS YA-1VPCV1

G3/WG3/WGH3 model series

  • With the VR technology, it reproduces welder's motions by a robot.
  • With intuitive operation, it lowers required programming specialty
  • It reduces programming time.

* The VR device is specified by Panasonic

Customer Benefits

Benefit #1 : Virtual Robot Programming

It registers programming points of the real workpiece with the VR device, and enables even unskilled robot operators to perform the robot programming easily.

VR equipment

Benefit #2 : Programming Time Reduction

It reduces up to 60% programming time on a complicated workpiece that has many programming points. (own research)

Programming point : Approximately 80 points (Welding section : 30points)

Programming method Programming time Correction time*1 Welding command edit  Total
Actual machine*2 2hrs (90sec/point) none - 2hrs
Offline software 1hr (45sec/point) 30min - 1h 30min
VRPS 7min (5sec/point) 30min 10min 47min

*1 Assume an on-site correction takes 1m/point, thus 30minutes for 30 points.
*2 Assume an experienced robot operator for the actual machine programming.

How to Use

1. Set up the VR devices

Set the space range where operators move around

2. Synchronize with a real space

Program the basic three points by actual machine.
Synchronize the basic three points using the VR device.

3. Execute a programming

Using the VR device, an operator performs programming by hand with handling welding torch

4. Send the program

The programming is sent from PC to a robot

5. Verify and adjust by tracing

Confirm the actual trace of the programming.
Adjust the programmed points by pitch motions and so on.

System Configuration

A PC and the VR devices are set up by the customers.

Our Product YA-AVPCV1

1. Software (CD-ROM)

2. License key (USB dongle)

3. Torch model

Customer Preparation Items

4. PC (Higher specifications than what we specify)

OS : Windows 10 64bit

CPU : Intel® Core™ i5-4590 equivalent or above

GPU : NVIDIA® GeForce® GTX 1060 equivalent or above

Memory : 4 GB or more

Video output : DisplayPort 1.2 or later

USB port : USB 3.0 or later, 2 ports or more

Make sure to confirm that a PC has the same or a higher specification indicated above. It will not operate if the specifications are not enough.

The video output port specification is DisplayPort1.2 or later version. Generally, a laptop PC is equipped with Mini-DisplayPort. In that case, an converting adaptor from Mini-DisplayPort to DisplayPort, or a cable which has Mini-DisplayPort 1.2 or a later version on both ends will be needed.

Other converting adaptors such as HDMI is not recommended.


(Our specified device, See HTC co. website for details) headset, base station (sensor) ×2 controller×2, HDMI cable, USB cable

6. LAN cable

7. Sensor stand

Precautions upon a purchase

Please make sure to read the precautions below before purchasing a VRPS.

Applicable machine

  • It is applicable to CO2/MAG/MIG machines. In case a TCP adjustment is properly done, it can be applied to non-standard torches.
    However, please check beforehand if it interferes with the workpiece or jigs with the actual machine.

Inapplicable machine

  • It is not applicable to the TIG or CUT.
  • It is not applicable to a positioner or does not support collaborative motion.

Out of Warranty

  • Defects caused by operating a VRPS other than those described in the operating instructions.
  • Defects caused by using a VRPS outside.
  • Misaligned programming points caused by vibration of equipment or buildings.
  • Misaligned programming points caused by a “strong light (including arc light) " or "noise" cluttering the infrared.
  • Misaligned programming points caused by dirt on a VR device base station or a controller (it interferes the accuracy of infrared sensing).

Precautions for the VR device

  • The VR device will not has a product warranty as it is for the commercial use. Please register “VIVE Enterprise Commercial Warranty Certification". It will be a separate cost to the customers (available within Japan only).
  • As for the VR devices and the PC, please make sure to confirm the specifications.
  • The VR devices and the PC are to be set up by the customers. Obtain a separate quote if a set up service is needed.
  • Four to six 100V electric outlets will be needed. Have them ready.
  • Do not perform welding nearby a running VRPS. The infrared in a welding arc light may cause a malfunction.

Precautions for the programming point

  • Position accuracy : There will be a misalignment. Perform an operation check and position correction before operating the machine.
    Programming correction is mandatory.
  • In order to improve position accuracy :
    1. Retain head mount display tracking while programming.
    2. Run the VR devices at least 30 seconds prior to performing a programming or calibration.
    3. Adjust the robot TCP properly.
    4. Perform the TCP adjustment of the torch model attached to the VR device.

Limitations of the operating environment

  • Do not generate “strong light (including arc light) or “noise" that disturbs the infrared rays of the sensor.
  • In case of using multiple VR systems, it is necessary to prevent interference to infrared by using a plate or so on.

Limitations of the operating environment

It is not applicable to a workpiece that does not fit in the programming area.

Programming area floor size

Max : 10m × 10m *1 (Diagonal Length 8m) Min : 2m × 1.5m (Diagonal Length 2.5m)

*1 When using 4 sensors (base stations) used, It is 5m×5m when using 2 sensors.

Top View (Using 4 sensors) / Top View (Using 2 sensors) / Sensor can be set up non-diagonally as well

Limitations of Sensing

  • Make sure two infrared rays reach the VR device during a programming.
  • As for the sensor setting height (base station), 2m or higher is recommended (up to 3m).

Detection may not be done correctly if there is any shielding object. If infrared rays are shielded, add the sensor (s) as necessary.


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