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介绍笔者在ＳＧＩ图形工作站上开发的实用化的工业机器人仿真离线编程系统（ＩＲＤＳＳ），该系统以丰富多样的图形功能为基础，可进行工业机器人的建模、工作空间分析、结构设计、工作单元布置、路径规划、机器人本体及与环境的干涉碰撞检验、任务语言描述和动画仿真等。
This paper introduces the practical industrial robotic simulation offline programming system (IRDSS) developed by the author at SGI Graphic Workstation. Based on a variety of graphic functions, this system can carry on the modeling, working space analysis, structural design, work unit Layout, path planning, collision detection of robot body and environment, task language description and animation simulation.