Abstract
This paper describes the development of software to produce automatically an off-line robot control program when given only the layout of the cell and the part programs for the individual components. Based on an FMS simulation system developed at UMIST, a number of special purpose facilities have been incorporated for programming a robot which have reduced the effort required in the modelling of manufacturing systems. In particular, the co-ordinates are calculated at each point to which the robot gripper moves, the robot control program is generated, auxiliary requirements are displayed on the screen, and the new package is linked to the basic simulation system. While the system is simulating the real system, the robot control program is created automatically. At the same time, the auxiliary requirements of each step are displayed on one of the display screens. The robot control program can then be transmitted from the VAX 11/750 computer on which the simulation runs to a Cromemco microcomputer which is linked to the robot controller.
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