Schreck, G.G.SchreckBernhardt, R.R.BernhardtDuelen, G.G.DuelenKatschinski, V.V.Katschinski2022-03-032022-03-031991https://publica.fraunhofer.de/handle/publica/180100The paper reports on an off-line programming and simulation system developed at the IPK-Berlin. Some relevant industrial applications are presented. Furthermore the integration of this basic components to a planning system for robotized workcells is described.de670journal article