This paper introduces an automatic offline programming software for industrial robot which is used in the spraying system for movable hanging box

explains the structure

the core principle and realized function of the software

emphatically introduces the singularity problems in robot trajectory planning and solutions

and according to the actual spraying effect

related suggestions and prospects are proposed. This automatic off-line programming technology

not only can be used for robot trajectory planning

the development of a computer software that can automatically generate robot operation program

can also verify the rationality of the spraying process by using the simulation software

and then modify the program structure to achieve optimization

effectively avoids the singularity problem of robot motion. The use of software can avoid the manual operation of robot and graphic operation in off-line programming

and minimize human intervention. It has high value of popularization and application.