This paper presents a prototype system for off-line programming of industrial robot RV-M1 using augmented reality technology. The system allows controlling a virtual model of the industrial robot co-located in the real environment, planning configurations, generating robot program and simulating the robot actions. The proposed architecture makes it possible to manipulate, pick or place the objects in the scene. The advantage of this system is use of inexpensive equipment for intuitive off-line programming of an industrial robot.

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