This thesis discusses in details the theory and method of establishing a virtual Reality System through the author's study and experience during his participating in the National 863 High-tech Project- Virtual Reality Based on Robots. First, the thesis presents the history of Virtual Reality and the hardware and software supporting this advanced technology. Secondly, VR application in the Programming for industrial robots is discussed and the VRBR systems is introduced. Finally, three topics , Geometric Modeling, System Programming, Collision Detection , are studied and discussed thoroughly and relative realizing methods are provided one by one.
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