<s>
Off-line	B-Application
programming	I-Application
(	O
OLP	O
)	O
is	O
a	O
robot	B-Application
programming	I-Application
method	O
where	O
the	O
robot	B-Application
program	I-Application
is	O
created	O
independent	O
from	O
the	O
actual	O
robot	O
cell	O
.	O
</s>
<s>
The	O
robot	B-Application
program	I-Application
is	O
then	O
uploaded	O
to	O
the	O
real	O
industrial	O
robot	O
for	O
execution	O
.	O
</s>
<s>
In	O
off-line	B-Application
programming	I-Application
,	O
the	O
robot	O
cell	O
is	O
represented	O
through	O
a	O
graphical	O
3D	O
model	O
in	O
a	O
simulator	O
.	O
</s>
<s>
Nowadays	O
OLP	O
and	O
robotics	B-Application
simulator	I-Application
tools	O
help	O
robot	O
integrators	O
create	O
the	O
optimal	O
program	O
paths	O
for	O
the	O
robot	O
to	O
perform	O
a	O
specific	O
task	O
.	O
</s>
<s>
Robot	O
movements	O
,	O
reachability	O
analysis	O
,	O
collision	O
and	O
near-miss	O
detection	O
and	O
cycle	O
time	O
reporting	O
can	O
be	O
included	O
when	O
simulating	O
the	O
robot	B-Application
program	I-Application
.	O
</s>
<s>
Examples	O
of	O
software	O
and	O
hardware	O
supporting	O
off-line	B-Application
programming	I-Application
:	O
</s>
