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Gives an example of the use of offline 3‐D graphical simulation to assist in program generation for a robot palletizing operation, a technique which is proving increasingly cost effective. Describes GRASP, the 3‐D graphical simulation tool for robotics applications whose special palletizing module was employed, and reports on the successful outcome. Claims that GRASP has enabled verified robot programs to be generated which can be produced in less than a day, saving more than two days over the manual programming approach and reducing cell downtime from three days to less than two hours.

Peter Sorenti and Joe Bennaton discuss developments in off‐line programming and decribe the use of the GRASP 3D graphical simulation system to program a complex welding task at JCB.

Describes how virtual reality simulation technology is being used and developed to support the design, and programming, of large‐scale robot arc‐welding cells in two of the world’s largest and most modern shipyards. GRASP‐VRI is a shipbuilding‐specific software simulation and offline programming tool, developed as part of a highly‐productive method for rapidly creating arc‐welding programs for robots. Describes the integrated program creation concept which uses pre‐defined, parametric libraries of generic arc‐welding tasks that were created and verified prior to, and during, cell commissioning. Says that the approach is applicable to other robotics applications such as cutting, gluing and inspection.