This paper discusses the application ofCAD/CG in the Assemble Robot off-line Programming System ARPS, which is developed by us, such as robot world geometric modelling,movement position reasonning,collision detection and computer animation.

• 本文讨论CAD/CG在我们开发的装配机器人离线编程系统ARPS中的应用，包括机器人世界的几何建模、运动位置的推理、碰撞检查和计算机动画。