A world model based off-line robot programming system

In this paper, a programming system for robot-based manufacturing cell which can control and simulate manufacturing devices as well as robots in workcell is proposed and developed. The system is based on world model, and modem textual and object-level robot programming language and interactive graphic world modeler are used to construct and exploit world model. Graphic simulation is used as an efficient and easy to use debugging or verifying tool for user written robot programs. Machine dependency is minimized by adopting the hierarchical control structure and by assuming all the workcell components as virtual ones.