The use of interactive computer graphics for simulation and off line programming provides a powerful tool in implementing robots. This capability essentially became available with the CAD/CAM system. This paper will present the theory of robot modeling and simulation techniques. An over-view of CAD/CAM system in robotic application, such as robot off-line programming, simulation and workcell layout will also be represented.
Jay Lee, Jay Lee,
"Computer-Aided Robot Modeling, Programming And Simulation", Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); doi: 10.1117/12.937765; https://doi.org/10.1117/12.937765