| This paper investigates a novel robot-programming approach that generates a robot program automatically from a CAD model. The development of robot-programming techniques can be categorized as lead-through programming, manipulator-level languages and task-level languages. In the Lead through methods, the programmer needs to physical move the robot through the desired positions or paths and record the motion into the controller memory. Manipulate-level methods use symbolic/structural languages to describe the robot motion. Task-level approaches may incorporate and use natural languages to describe the robot task in an objective-oriented rather than manipulator-oriented way.Nowadays, industrial robots are used extensively for simple, repetitive, boring and hazardous in laser processing. There are basically two methods for programming industrial robots, namely, on-line and off-line. On-line teaching, a process that is tedious and time-consuming, usually programs robots in industry. In the process of teaching, the robot is manually moved to a number of desired of positions, and the robot control system stores the coordinates of the positions. By this way, the program is written that will step the robot through the sequence of the taught points. To overcome the problems in on-line programming, we develop the off-line programming which greatly improve the efficiency of robots. For example, it allows application prepared separately, so that the robot can continue to perform the current job , which will greatly reduce the waiting time. In order to realize laser prototyping, the following steps are needed. Based on 6-axis robot , this paper systematically studied the basic principle and method of off-line programming for direct laser fabrication system with metal powder.
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