Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
The previous Off-line Programming method allowed a mix of human interaction and A Priori path planning in a modelled environment. The same concept is possible, with human interaction and the A Postieri path planning. This is On-Line programming, because there are no graphical simulations in this strategy, the actual robot is used. On line programming allows the user to directly enter robot motions and directly verify their safety and use tools to optimize the path. This is not desirable for path planning because it is time consuming and inflexible, this is similar to the original method of robot programming with set via points.