Off-line programming is relatively new concept against on-line programming, which teaches robot physically connected with the operator. But in the off-line programming task can be developed using computer graphics without connecting robot with the operator physically. So robot can continue to perform its tasks without interruption and prevent human from dangerous work environment during the programming phase.
In this paper, an off-line programming system is developed to aid the design of robots, planning of trajectories,testing and debugging of robot programs. This system contains new robot programming language, named ARL-1(Assembly Robot Language-1), and a graphic simulator to simulate robot motion in a work environment.
In ARL-1, structured programming and word modelling system was realized and graphic simulator can display world models from different direction with various graphic options.
By connecting the robot language with the graphic simulator animated world model was simulated and real robot operation was performed to show the feasibility of ARL-1 using the developed task program.
