Abstract
SUMMARYOff-line programming of robots has a number of clear advantages over traditional ‘teach1’ methods which require the robot to be taken out of production. However, off-line programming techniques require extensive geometric facilities which are ideally provided by a geometric modelling system.The use of modelling covers the planning of the robot workcell, as well as the detailed planning of the robot operations. Assembly, in particular, requires detailed geometric information concerning geometric features and solid properties.
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