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Both, positioners as well as robot motion tracks to be integrated with industrial ro- bots as their external axes should fulfil high work requirements. The toughness structure of such systems resulted in high carrying capacity and repeatability of positioning must be compatible with the system kinematic ability to be used in typical technological appli- cation. During such systems design process its functional verification can be done with the use of virtual off-line programming. The already complemented in PPU ZAP Robotyka in Ostrow Wielkopolski research methodic as well as results of analysis performed of newly developed manipulating machines as external axes of industrial robots.

The analysis of industrial robot – external axes system movements with the use of virtual off-line programming