Off-line planning of tasks and robot motion via the computer- graphics simulation of the robot and its environment is dis cussed. The internal structure and the mathematical basis of a generalized computer program developed for this purpose are described. Methods based on truncated trigonometric series for the off-line planning of robot trajectories and methods for the planning of multiple-segment robot motions with minimum cycle times are presented. The dynamic aspects of motion trajectories are discussed in relation to the generation of these time-optimal motions.
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