A graphical simulation tool with off-line robot programming

摘要

HELGA, a graphical simulation program of the IBM 7535 robot, uses animation to simulate the motion of the robot. A feature of HELGA is its off-line programming capability which has been designed specifically for use as an educational tool. Included in this paper are a description of the HELGA simulation program, some of its commands, and an example of the system's off-line programming capability.