Computer-aided off-line planning of robot motion

Abstract

This paper describes a microcomputer interactive package for computer-aided off-line planning of robot motion. The package includes interactive construction of 3D graphic models kinematic and dynamic simulation, motion planning, collision detection and image animation and provides a text output file of the robot program. The robot controller can accept the text output from software system, transporting the robot program from IBM PC-AT to the robot control, and executing the robot program. The project of off-line planning of a PT-300V Robot using this system was successfully completed. Real-time collisions of 3D geometric models can be detected by using J-function defining by us. The software system was carried out on an IBM PC-AT under DOS in the PASCAL implementation language.