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Table of Contents


RobWork is a collection of C++ libraries for simulation and control of robot systems. RobWork is used for research and education as well as for practical robot applications. Features of the library include:

Besides the core part, RobWork has a number of add-ons including

Target audience of RobWork is:

RobWork is developed by SDURobotics at the University of Southern Denmark. The focus is on cognitive and applied robotics.

Release Notes

Changelog and release notes can be found here Release Notes

Manuals and tutorials

Other topics include


Build Status

The project is being built nightly, and the status can be seen at Build status.

SDK Packages and Extra

SDK packages and other precompiled things can be found at However, this is now mainly used for legacy things.



RobWork is distributed under the "Apache License, Version 2.0", See here. For convenience, a number of open-source libraries are distributed together with RobWork; the RobWork license does not apply to these libraries.


If you use RobWork in your research then please support us by referencing to one of the following papers:

 author={Ellekilde, Lars-Peter and Jorgensen, Jimmy A.},
 journal={Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK)},
 title={RobWork: A Flexible Toolbox for Robotics Research and Education},
 pages={1 -7},

 author = {J{\o}rgensen, Jimmy A. and Ellekilde, Lars-Peter and Petersen, Henrik G.},  
 title = {{RobWorkSim - an Open Simulator for Sensor based Grasping - Conference papers - VDE Publishing House}},
 booktitle = {ISR/ROBOTIK 2010 - ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)},
 citeulike-article-id = {8807064},
 citeulike-linkout-0 = {},
 day = {7-9},
 month = jun,
 posted-at = {2011-02-11 12:00:13},
 priority = {2},
 publisher = {VDE-Verlag},
 url = {},
 year = {2010}


Development of RobWork started summer 2006. The dynamic simulation was added in 2008 and was and still is based on the Open Dynamics Engine. The framework has been and is currently used by SDU in several large national and European projects: LearnBip, IntellAct, Xperience, Tailorcrete, MoveBots, Handyman, RobWork is being used and developed in cooperation with industrial partners such as Scape Technologies and the Danish Technological Institute.

[1] Simulating Robot Handling of Large Scale Deformable Objects : Manufacturing of Unique Concrete Reinforcement Structures. / Cortsen, Jens; Jørgensen, Jimmy Alison; Sølvason, Dorthe; Petersen, Henrik Gordon .I : I E E E International Conference on Robotics and Automation , 2012.

[2] Grasp Synthesis for Dextrous Hands Optimised for Tactile Manipulation. / Jørgensen, Jimmy Alison; Petersen, Henrik Gordon .2010. Paper presented at Joint 41st International Symposium on Robotics (ISR 2010), Munich, Tyskland.

[3] Usage of simulations to plan stable grasping of unknown objects with a 3-fingered Schunk hand. / Jørgensen, Jimmy Alison; Petersen, Henrik Gordon .2008. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, Frankrig.

[4] Advanced Off-line Simulation Framework with Deformation Compensation for High Speed Machining with Robot Manipulators. / Cortsen, Jens; Petersen, Henrik Gordon .I : I E E E - A S M E Transactions on Mechatronics , 14.06.2012.

[5] Ring on the hook: placing a ring on a moving and pendulating hook based on visual input. / Kjær-Nielsen, Anders; Buch, Anders Glent; Jensen, Andreas Kryger; Møller, Bent; Kraft, Dirk; Krüger, Norbert; Petersen, Henrik Gordon; Ellekilde, Lars-Peter . Industrial Robot , Vol. 38, Nr. 3, 2011, s. 301-314.

[6] Optimizing visual appearance used for refinement of object poses. / Holm, Preben Hagh Strunge; Buch, Anders Glent; Petersen, Henrik Gordon .I: Proceedings of the IASTED International Conference on Robotics and Applications. ACTA Press, 2011.

[7] Assessing Grasp Stability Based on Learning and Haptic Data. / Bekiroglu, Yasemin ; Laaksonen, Janne ; Jørgensen, Jimmy Alison ; Kyrki, Ville ; Kragic, Danica. I : I E E E Transactions on Robotics , Vol. 27, Nr. 3, 06.2011, s. 616-629.

[8] Usage and verification of grasp simulation for industrial automation. / Ellekilde, Lars-Peter; Jørgensen, Jimmy Alison .I: Automate 2011. Proceedings. AUTOMATE, 2011.

[9] Sensor and Sampling-based Motion Planning for Minimally Invasive Robotic Exploration of Osteolytic Lesions. / Wen P. Liu Blake C. Lucas Kelleher Guerin Erion Plaku, IROS 2010

[10] Inverse kinematics by numerical and analytical cyclic coordinate descent. / Anders Lau Olsen and Henrik Gordon Petersen, Robotica (2011), 29 : pp 619-626

[11] RobWorkSim - an Open Simulator for Sensor based Grasping. / Jørgensen, Jimmy Alison; Ellekilde, Lars-Peter; Petersen, Henrik Gordon. 2010. Paper presented at Joint 41st International Symposium on Robotics (ISR 2010), Tyskland.

[12] Grasping Unknown Objects Using an Early Cognitive Vision System for General Scene Understanding. / Mila Popovi?, Gert Kootstra, Jimmy Alison Jørgensen, Danica Kragic, Norbert Krüger (2011), In: Proceedings of the International Conference on Intelligent RObots and Systems (IROS), September 25-30, 2011, San Francisco, CA

[13] Accelerated Hierarchical Collision Detection for Simulation using CUDA. / Jørgensen, Jimmy Alison; Fugl, Andreas Rune; Petersen, Henrik Gordon. 2010.