A graphical off-line robot programming system should not only be able to simulate various types of robot movement graphically, it should also be able to use graphics to interact with binary sensors, actuators and etc., in order to simulate logic-related and other functions of robot languages, such as testing and branching, looping, communication and external event handling graphically. We present a graphical off-line robot programming system which has some of these additional features. In particular, it incorporates a geometrical representation of logical conditions into the geometrical representation of the robot and workspace and it allows conditional statements to be programmed in a geometric setting.
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