To prepare a program preventing damage of a robot and a peripheral facility by correcting a teaching point in a short time.
The robot program preparation device has a programming part 10 having a memory part 11 for storing information of a teaching point of a robot and information of a peripheral environment model of the robot and preparing a robot program at an off-line; and a robot control part 20 for controlling action of the robot, moving the robot to an actual teaching point, capturing the information of the actual teaching point and correcting the information of the teaching point on the robot program. The programming part 10 has a production means 12 of a route for moving the robot toward the teaching point corrected from the present position without interfering to a work and an obstacle based on the information of the teaching point and the information of the peripheral environment model, and the robot control part 20 is provided with a means 22 for moving the robot toward the corrected teaching point based on the produced route, and corrects the information of the teaching point on the robot program by replacing the teaching point corrected after movement with the information of the actual teaching point again.
KOBAYASHI HIROHIKO
| JPH02190280A | 1990-07-26 | |||
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| JPH05134732A | 1993-06-01 | |||
| JPH08141977A | 1996-06-04 | |||
| JP2001125623A | 2001-05-11 | |||
| JPH04217009A | 1992-08-07 | |||
| JPH0619529A | 1994-01-28 |
Jun Tsuruta
Tetsuro Shimada
Koichi Itsubo
Ryu Kobayashi