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An off-line robot-programming system with graphics simulation

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Abstract

This paper describes an experimental off-line robot-programming system. This integrated robot-programming system, PC-R, was designed to be independent of the robot as well as to provide off-line graphics simulation of the work situation so that evaluation of the performance could be done rapidly. PC-R comprises several modules, including (a) a robot language compiler; (b) a graphics simulator for modelling the robot and its work environment; (c) a solid-modeller based on the CSG scheme using the technique of ray tracing for solid analysis and visualisation, which interfaces with the simulator and performs interference analysis of the robot programs; and (d) a link to the industrial robot ASEA IRB-6. This ASEA link module is capable of manoeuvring the robot according to the robot programs in real time as well as saving the sequence of robot movements to the robot-controller for later playback execution by the robot.

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Authors and Affiliations

  1. Department of Industrial and Manufacturing Systems Engineering, University of Hong Kong, Pokfulam Road, Hong Kong

    T. N. Wong & S. C. Hsu

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  1. T. N. Wong
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  2. S. C. Hsu
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Wong, T.N., Hsu, S.C. An off-line robot-programming system with graphics simulation. Int J Adv Manuf Technol 6, 328–345 (1991). https://doi.org/10.1007/BF02601633

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