| 摘要 |
PROBLEM TO BE SOLVED: To provide a working program correction method and a working program correction device in a robot capable of correcting a working program of the robot by simple operation when rotation deviation is present on a workpiece on a placement surface placed with the workpiece and capable of performing shortening of a teaching/correction time when the working program is re-utilized. SOLUTION: A robot control device 50 calculates difference of a position of a first teaching point of the present working program and a second teaching point on the workpiece corresponding to the first teaching point, and corrects the position of the teaching point of the present working program based on the difference. The robot control device 50 calculates a rotation amount of vector directed from the first teaching point to the fourth teaching point on the working program and vector directed from the second teaching point to the third teaching point on the workpiece, and corrects a position attitude of a manipulator 10 at the teaching point of the present working program based on the rotation amount. COPYRIGHT: (C)2010,JPO&INPIT
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