| 摘要 |
PROBLEM TO BE SOLVED: To provide a device for correcting a robot operation program, that allows a user to intuitively command correction of an operation point and that is capable of accurately grasping a correction intention of the user.SOLUTION: A simulation device includes: a display unit which shows a motion trajectory OB1 of a robot; a range reception part which receives specification of a start point S and an end point E of a range to be corrected; a setting part which sets a correction point A2 between the start point S and the end point E; a movement destination receiving part which receives specification of inner and outer directions of the motion trajectory OB1 and a movement distance as a movement destination of the correction point A2; a determination part which determines the inner and outer directions of the motion trajectory OB1 by comparing an angle α formed by a line connecting the start point S with the correction point A2 and a line connecting the end point E with the correction point A2, to 180°; a movement part which moves the correction point A2 to specified inner and outer directions and movement distance positions according to the determined inner and outer directions; and a correction part which corrects an operation program so that the motion trajectory passes the moved correction point. |
