As the off-line robot programming system for complicated manufacturing facility becomes more widely used, the necessity of verifying and debugging tool for it becomes crucial.
In this thesis, a graphic simulator for multi-robot is designed and developed. This system consists of object modeler and robot simulator, which models robot and other workcell components geometrically and shows the motion of robots respectively.
The object modeler constructs geometric model based on Constructive Solid Geometry (CSG) method and stores the result in Boundary Representation (B-Rep) form. In robot simulator, a world model is constructed by laying out premodeled robots or equipments, and the motion of robots in workcell is realized by changing world model data.
The world model which resides in shared memory can be updated either internally or externally. Internally, robots are moved though trajectory data file or teach pendant emulator. Externally, off-line programming system or any other motion planning system can be connected.
The over all system has interactive menu-driven user interface with various viewing parameters. Experiments on verifying and generating robot motion as well as interconnection with external off-line programming system shows the usefulness of this system.
