机器人离线编程问题归因于离线创建的程序下载时，模型机器人和实际工作单元之间的差异。本文讨论了利用仿真技术对机器人进行校准和离线编程的技术。

ROBOT OFF-LINE PROGRAMMING PROBLEMS ATTRIBUTE TO DIFFERENCES BETWEEN THE MODELLED ROBOTS AND THE ACTUAL WORKCELLS WHEN THE PROGRAMS CREATED OFF-LINE ARE DOWN- LOADED. THIS PAPER DISCUSSES TECHNIQUES DEVELOPED USING SIMULATION TO CALIBRATE AND OFF-LINE PROGRAM ROBOTS.