With the widespread use of the industrial robots, the offline programming (OLP) is becoming increasingly important for the robot programming. Currently, online programming is the most common programming method, however, it is always time-consuming and expensive for the complex applications such as machining, painting and welding. Compared with this method, OLP allows more efficient and straightforward implementation of complex applications. In addition to easing programming tasks, the OLP method greatly simplifies the design and validation of a workcell and provides predictions for the processes of a workcell at the early concept stage. This paper presents a tool path generation method and integrates it into an offline programming system to provide a comprehensive solution for the robotic applications.