In this paper we present the SMAR CAD-robotics system (Système de Modélisation et d'Animation de Robots), which we developed at the University of Poitiers. This system allows its user to deal with a great number of robotics problems through the use of a graphic simulator. We will discuss the different parts which form the SMAR system. This includes the following:

—The modeler which allows the user to build a database, describing the robot and its environment. The database generated by the system is composed of the geometric description of the objects and the kinematics description of the environment.

—The simulator and the coordinates reverser, which simulate the robot's movements.

—The collision detection algorithms used to verify task accomplishment.

—A calculation algorithm in order to find optimal placement, which determines the relative position robot/task, allowing the robot to efficiently execute the assigned task.

—The collision free-path planning algorithm allowing the system to generate trajectories in a cluttered environment.

An example dealing with a complex robotized cell will also be presented in order to demonstrate the capabilities of the system.