Robot3D - Robot Offline Programming & Simulation
Offline robot simulaiton software using 3D wireframes. Compatible with Kuka, RCM, and ABB robots. Their software can handle coordinate specification in either the World, User, Tool, or Join coordinate systems. You can also export your project to DXF format, and they alow the importing and exporting of standard CAD data files.
Commercial software that runs on Microsoft Windows that faciliates offline simulation programming. They also offer a few white papers on the benefits and design issues involved.
Amrose A/S offers 3D robot simulation software for the design of advanced robots.