An approach to off-line programming of a robot system, in the presence of uncertainty in the location of the manipulator and objects in the workspace, has been developed. The approach is based on the concept of affixment tree. The approach involves the prediction and compensation of location errors, with the intent of automatically generating robot-executable programs based on information from task planning done on a CAD workstation. The off-line programming system has been implemented and successfully tested on parts assembly processes using the IBM 7565 manipulator.

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