Automate 2025: SWORD Robotics Programming Plugin Enables CAD-Based Motion Planning

    May 13, 2025
    Southwest Research Institute’s SWORD software enables users to simulate robotic movement and plan motion paths within a 3D CAD environment.
    © SwRI (Southwest Research Institute)
    SWORD 3D model simulating how a robot interacts with a metal jigsaw puzzle piece.
    SWORD users can use CAD to create a 3D virtual environment to match a robotics hardware setup. This 3D model simulates how a robot interacts with a metal jigsaw puzzle piece.
    At left, SWORD sets up robot trajectories using advanced motion planning algorithms and can then export the trajectory to a native robot program (right).
    SWORD users can create a path for robotic movement. The green lines depict the planned path, showing where a robotic arm will move an end-effector around a metal jigsaw puzzle piece.

    The SwRI Workbench for Offline Robotics Development (SWORD) is a robotics programming software plugin that models, plans, and executes automation processes in a 3D CAD interface. Designed to simplify complex robotic applications, it integrates with open-source robot operating system (ROS) tools to convert digital simulations into executable robot commands and free-space motion on hardware.

    SwRI will demonstrate SWORD at Automate, May 12–15, in Booth #5607. The live demo features a robot arm programmed in SWORD to set up process paths for a jigsaw puzzle-shaped part within the CAD interface.

    The software provides an intuitive environment that allows users to create or import CAD models of robotic systems, including fixtures and end-of-arm tooling. Users can manipulate robot joints using sliders and simulate tool movement with visual draggers. Motion planning is handled through commercial path planners, allowing the development of custom pipelines tailored to application-specific behaviors while enabling collision avoidance.

    By using coordinate-based or joint waypoints, users can define motion segments, assign movement types, and insert supplementary commands. SWORD reduces the manual coding traditionally required for robotics setup in industrial applications, making advanced robotic motion planning more accessible to manufacturing engineers familiar with CAD but not programming.

    The software is built as a plugin for FreeCAD and includes a graphical toolkit to create motion planning environments and collision geometries.

    SwRI manages the ROS-Industrial Americas Consortium and supports ROS-I software repositories, executing training and developer events. SwRI developed SWORD so manufacturing engineers with CAD knowledge can leverage complex capabilities within the ROS codebase.

    Features:

    • Plugin for FreeCAD with a graphical toolkit for robotics modeling
    • CAD-based simulation of robotic arms, tools, and work cells
    • Integration with ROS software modules
    • Joint sliders and dragger tools for intuitive robot manipulation
    • Custom motion planning pipelines with collision avoidance
    • Coordinate-based and joint-based waypoint definitions
    • Compatible with commercial path planners

    Southwest Research Institute (SwRI)
    San Antonio, TX
    (210) 522-2122
    [email protected]
    swri.org