ROBOT OFF-LINE PROGRAMMING SYSTEMS ARE BEING CONSIDERED TO BE A VIABLE TECHNOLOGY FOR ACHIEVING MAXIMUM PRODUCTIVITY WITHOUT LOSING FLEXIBILITY. THIS PAPER DESCRIBES THE DEVELOPMENT OF SUCH A SYSTEM FOR A CINCINNATI MILACRON T3-646 INDUSTRIAL ROBOT WHICH IS CONTROLLED BY AN ACRAMATIC VERSION 5 CONTROLLER. GRAPHICAL VERIFICATION OF THE ROBOT MOTIONS WAS PERFORMED ON AN IBM 4381 COMPUTER RUNNING DASSAULT SYSTEMES CATIA UNDER THE VM/CMS OPERATING SYSTEM. FEATURES SUCH AS 3D-CURVE FOLLOWING MOTIONS, COLLISION CHECKING, AND A WORKCELL LIBRARY WERE DEVELOPED. IN ADDITION, A TASK LEVEL ROBOT PROGRAMMING APPROACH WAS IMPLEMENTED. FURTHER, A POST-PROCESSOR WAS CREATED TO TRANSLATE ROBOT PROGRAM INTO A FORMAT READABLE BY THE CONTROLLER.