Recently, the factory automation trends to the wide use of industrial robots. The expanding use of robots causes some problems to the field engineers and the design engineers.
For the field engineers, the increase of interruption of the process for programming robots is a major problem. For the design engineers, problems are a long term and great expenses necessary for designing a new robot by conventional design method based on the trial-and-error approach.
To overcome these facing problems, the use of graphic simulator was introduced as one of solutions. But the graphic simulators which are suitable for both engineers, field engineers and design engineers, are rare.
In the thesis, we emphasize on the developing a new method of describing the structure of robot arms and a systematic way to use it as a simulator.
To describe the structure of robot arms, a robot is regarded as a collection of various links in the form of polygonal pillars. And a set of commands for describing the information on how all the links in a robot are connected is defined.
For the purpose of simulating the motion of robots, we make it possible to set various parameters such as a viewer's position, a scale factor, joint variables freely and to display their results graphically. It is also possible to simulate joint motions of a robot interactively.
