PC-based off-line programming using VRML for welding robots in shipbuilding

In this paper, a PC-based offline programming (PC-OLP) method for welding robots in shipbuilding is proposed. Also, this paper explains the methodology of 3D simulations for new type robotic systems. The proposed OLP system consists of a robot's 3D simulation, a block arrangement simulation, an optimal path planning by genetic algorithm (GA), an automatic robot program generation, and a Tribon CAD interface. The strength of the developed OLP system lies in its flexibility in handling the changes in the robot's target objects. Also, by use or the developed OLP, the operator can generate robot programs very easily and quickly. We employ Visual C++, Open Inventor, Virtual Reality Modeling Language (VRML), and Windows 2000 system. The VRML makes the developed OLP possible to extend to an Internet-base OLP. The developed OLP can also be used for other robot applications such as painting or grinding robots in shipbuilding industry.