A Study on The OLP Development and Controller Design for off-line Control of SCARA Robot

스카라 로봇의 오프라인 제어를 위한 OLP 개발 및 제어기설계에 관한 연구

In this paper, an off-line programming(OLP) system is presented as the three dimensional graphic simulator and one of the human-robot interface systems for industrial robots. The OLP system has been especially developed to testify robot programs visually using three dimensional geometric modeling and graphics technologies in personal computes. A special feature is its capability of collision detection and of comparing performance of control algorithms. This paper places the focus on the structure and major characteristic of OLP system.