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This paper presents the implementation of AI concepts in the development of a software application for Off-line robot task programming. 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 to 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. The simulation provides the designer with useful, inexpensive, off-line tools for retain and testing robotics work cells and automated assembly lines for various industrial applications.