| 摘要 |
PROBLEM TO BE SOLVED: To allow a robot to pass all teaching points while shortening a cycle time.SOLUTION: A program changing device (10) includes a sequence interchanging unit (23) for interchanging a plurality of teaching points in a teaching sequence so that a total movement time of a robot becomes shorter than that when the robot (15) is moved in line with an initial teaching sequence of the initial teaching points, a calculating unit (25) for calculating difference amounts between the initial teaching points and a trajectory of the robot that is obtained by executing an after-interchanged operational program by simulation, a position adjusting unit (26) for adjusting positions of the teaching points of the after-interchanged operational program until the difference amounts become equal to or smaller than a predetermined allowable value, and a teaching point changing unit (27) for changing the adjusted teaching points to be the initial teaching points when a cycle time of the after-interchanged operational program including the adjusted teaching points is longer than the initial cycle time, and employing the initial teaching sequence. |
