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Abstract
With the increasing use of industrial robots in manufacturing, off-line programming becomes an economic factor. An important tool in an off-line programming system is a simulator which allows to verify the correct task execution. The principle aspects of such a simulation system are discussed. The features required especially for the verification of assembly task execution are outlined. The concepts of a realized system which allows the handling of time variant kinematik linkages and the modelling of communication aspects is described.
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