Development of an Off-line Programming (olp) System for a Serial Link Robot Manipulator

For robot manipulators, an OLP system provides a detailed 3D simulation test-bed for visualization and analysis of various what-if scenarios. This paper discusses the prototype OLP system developed at the Informatics Complex for a six degrees of freedom cylindrical serial manipulator. Paradigms from classical robotics literature have been used to develop models of kinematics and to plan manipulator trajectories. 3D graphics techniques have been used in an object-oriented programming environment; Microsoft Windows was chosen as the platform for the OLP system. The simulator provides a complete and flexible view of the manipulator, with menu driven task simulation capability, and tools for visual and mathematical analysis of manipulator’s performance. Mathematical models for kinematics and trajectory planning for the manipulator have effectively been integrated with the developed 3D simulation software.