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collision detection capabilities which allow the programmer to detect and correct any
potential collision that might occur during the robot operation.
Owens [ref. 75] described a MS-DOS PCl'-based off-line programming
package, Workspace12, which was designed to be able to exchange information with
CAD systems using the DXF format and to allow for the modelling of objects by
using its three dimensional CAD system. This incorporates surfaces, constructive solid
geometry, extruded polylines, solids and rotations. Super VGA graphics has made the
simulation standard match that provided by graphics workstation-based packages. The
package also includes dynamic simulation capabilities, which allow not only the
evaluation of the dynamic performance of the robots but also the development of
control systems for new manipulators. It also provides the programmer with textual
programming allied with interactive graphical simulation and collision detection
capabilities. These allow the programmer to visualise the robot movements and its
interaction with the cell environment, as well as the flow control of the of line
generated programs.
Kortus et at. [ref. 741 proposed that the use of a textual based programming
system allied with a PC-based graphical kinematic simulator (Workspace) may result
in a cheaper alternative to the commercially available workstation based off-line
programming systems.
Cook et al. [ref. 76] described a workstation-based robot simulation system
(ROBOSIM), developed at NASA-USA to aid the design of robot manipulator arms
by simulating their use in a variety of industrial and space-related contexts. The same
authors described its use for simulating and programming robotic welding applications
and emphasised that it could be used for determining the best orientation of the part
relative to the robot and work table, for aiding fixture design, and for investigating
different robot and positioner configurations. The system could be further developed
for insertion into a complete CAD/CAM system, which would allow the welded part
to be taken from its conceptual design to the production floor by computer
simulation, before fabrication.
Recent developments in off-line programming have mainly focused on
integrating CAD information normally available from the component design stages to
the robot operation. The development of strategies for integration of manufacturing
processes as well as the sensory information in the programming interface has also
received-significant attention. [refs. 77,78,79].
Chan et al. [ref. 80] described an off-line programming system which was
based on a commercial CAD package (CATIA13) integrated with an ABB14 IRB-2000
industrial robot. The integration was accomplished by means of a specially developed
post-processor, which was responsible for translating the CAD information into the
robot program (language ARLA'5). Following the same line, Lee and El Maraghy
[ref. 81] developed ROBOSIM, an off-line programming system whose graphical
interface was a commercial PC-based CAD software, CADKEY. These systems were,
" Personal computer, based on the the Intel 80x86 microprocessor family
12 Robot Simulations Ltd., UK.
" Computer-graphics Aided Three-dimensional Interactive Application.
14 Asca Brown Boveri
13 ABB Robot LAnguage.
20