| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot program generating device for generating a robot program which reduces jerk which may cause generation of vibration.SOLUTION: A robot program generating device 10 includes: a permissible value setting part 11 which sets a permissible value of jerk for a drive shaft of a robot; a shaft information calculation part 12 which simulates execution of a robot program in a virtual space, and correlates a position of the drive shaft and jerk to a time and calculates the same; a jerk determination part 13 which determines whether a calculated jerk is an excess jerk exceeding a permissible value; a shaft information determination part 14 which specifies the drive shaft in which the excess jerk is generated and the position of the drive shaft; and a robot program adjustment part 15 which adjusts a robot program by changing a teaching point near the position of the drive shaft in which the excess jerk is generated so that jerk of the specified drive shaft is equal to or lower than the permissible value.SELECTED DRAWING: Figure 3 |
