| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an inexpensive offline programming device which easily and accurately modifies an operation program corresponding to change of a workpiece processing program given to a machine tool. <P>SOLUTION: The offline programming device 10 includes: a hand-position designating section 20 for designating relative positional relationship data D1 between the object and the hand when the hand 16 holds objects W and T; a first calculating section for determining a position and orientation data D2 of the object mounted on the machine tool when a robot 18 performs the handling operation (supply, extraction, position change or the like), based on a command C specifying a position of the object and included in a workpiece processing program given to the machine tool 14; a second calculating section 24 for determining a position and orientation data D3 of the robot acting the handling operation, based on the relative positional relationship data D1 and the position and orientation data D3; and an operation-program generating section 26 for generating the operation program P by using the position and orientation data D3. <P>COPYRIGHT: (C)2008,JPO&INPIT</p> |
