| 摘要 |
PROBLEM TO BE SOLVED: To provide a teaching data preparing method and device for a manipulator which can compute the weight of tool conditions, sensor conditions, movable range conditions, and operable degree conditions based on existing teaching data without any skill at the time of setting the weight according to circumstances, and a recording medium which records a program. SOLUTION: A weight setting part E8 changes weight in a step-size of the weight of respective evaluation functions inputted by an input part E6 to the maximum value of the weight inputted by an input part E6 sequentially, an evaluation function integrating part E8 integrates the computed evaluation functions, a manipulator joint angle generating part E9 and a manipulator manual attitude computing part E10 compute an attitude following the existing teaching position, and an attitude error minimum detecting part E12 extracts such a weight that the error between the computed attitude and the attitude based on the existing teaching data (E7-2) stored in a storing part E7 is minimized, thus it is possible to extract the weight value of the respective optimum evaluation functions.
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