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Abstract—This paper presents the development of a software application for Off-line robot task programming and simulation. Such application is designed to assist in robot task planning and to direct manipulator motion on sensor based programmed motion. The concept of the designed programming application is to use the power of the knowledge base for task accumulation. In support of the programming means, an interactive graphical simulation for manipulator kinematics was also developed and integrated into the application as the complimentary factor to the robot programming media. ROBOTIC systems are ever more difficult to design, program, and to operate, due to their growing complexity. Also, the current state of art of powerful robot programming has reflected the requirement for a highly complicated multi discipline system. In recent years, a great deal of simulation work has been developed for robotics [5]. A complementary factor to the robot programming media is the graphic simulation. Presentation of shape and trajectories assists in program verification and hence minimizing the real robot mistakes. Also, interactive simulations incorporating robot kinematics can provide a useful method for designing and evaluating robotics work cells both for existing and future industrial applications [6]-[8]. Such graphical simulations permit safe and inexpensive methods for determining robot motion paths without requiring the use of any actual robotics hardware. The structure of the robot software system, as shown in Fig. 1, consists of seven modules. Based on the system design strategy, a modular approach in software development was adopted in order to enhance system efficiency and flexibility. In the following paragraph, each module is described briefly.
Tags : robot kinematics, level programming language, robot task, graphical simulations, simulation content, robot programming, graphic simulation, graphical simulation, robot motion, real robot, interactive simulations, simulation work, work cells, discipline system, robot software
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