Abstract
In recent years, several off-line programming and simulation systems have been developed to assist in the planning of new robot applications. Most off-line programming systems allow the user to set up the geometric layout of a work cell. However, in general, only a subset of robot commands is supported by the simulation systems. The Institut für Werkzeugmaschinen und Betriebswissenschaften (iwb) of the Technische Universität München has developed a simulation system, USIS (Universal Simulation System) for task planning and off-line programming of industrial robots. The system allows for the setting up of a “logic layout “of a work cell and supports most common robot programming statements. This paper discusses the requirements for advanced graphic robot programming systems and presents an approach to this problem while describing some features of USIS.
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