利用离线编程方法进行机器人作业规划

Carrying out robot task planning by the use of off-line programming method

本文是在作者开发的机器人离线编程系统的基础上，对装配和喷涂作业进行了规划，通过在线示教和运动再现。

Abstract On the basis of robot off-line pro-gramming system developed by the author this paper car-ried out a plan for assembly and painting tasks.This planis proved to be feasible through on-line instruction andmovement playing back.