Abstract
Important components of IR-application programs are geometric data which are partly available from CAD-systems. In this paper the derivation and transformation of CAD-data into the required representation of IR-application programs is discussed. For the description of the geometric part of the robots task a frame concept with homogeneous coordinates is used. For the production task spot welding the determination of frames out of the geometric data from the CAD-system is shown in detail. Furthermore, the use of CAD-data for simulation purposes is pointed out.
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