PC-based off-line programming using VRML for welding robots in shipbuilding

In this paper, a PC-based offline programming (PC-OLP) method for welding robots in shipbuilding is proposed. Also, this paper explains the methodology of 3D simulations for new type robotic systems. The proposed OLP system consists of a robot´s 3D simulation, a block arrangement simulation, an optimal path planning by genetic algorithm (GA), an automatic robot program generation, and a Tribon CAD interface. The strength of the developed OLP system lies in its flexibility in handling the changes in the robot´s target objects. Also, by use or the developed OLP, the operator can generate robot programs very easily and quickly. We employ Visual C++, Open Inventor, Virtual Reality Modeling Language (VRML), and Windows 2000 system. The VRML makes the developed OLP possible to extend to an Internet-base OLP. The developed OLP can also be used for other robot applications such as painting or grinding robots in shipbuilding industry.