| 摘要 |
An operation program preparation device (7) capable of reducing labor and cost for preparation of a robot operation program (22b, 22c). Work operations of a robot (1) includes work operations that are common to individual workpieces or operation objects and independent of workpiece type, and work operations that vary depending on workpiece. Operation-program definition data (41a, 41b) are set and stored, which includes a first program part requiring workpiece-dependent alteration and a second program part not depending on workpiece type. Workpiece-type related data (42-1, 42-2) representing workpiece position/orientation information is input and stored. In accordance with the first program part not having been subject to the workpiece-dependent alteration and the workpiece-type related data, the first program part is subject to alteration to complete the first program part, whereby the entire operation program is completed. As for a new workpiece, the operation program can be prepared only by inputting workpiece-type related data, making it possible to easily prepare the operation program adapted to various types of workpiece. |
