Patent ID: 7324873

Claim:
An offline teaching apparatus for teaching, in an offline mode, a processing work of a robot, comprising: a data acquiring section for acquiring position data, orientation data and processing-condition data including interpolation commands, at respective several predefined taught points related to an execution of processing, from an existing first processing program prepared for a first workpiece; a processing-path calculating section for determining a processing path in said first processing program, based on said position data, said orientation data and said interpolation commands at said several predefined taught points, acquired by said data acquiring section; a model generating section for generating, by using data of a second workpiece model provided by modeling a second workpiece having geometrical features different from geometrical features of said first workpiece, a processing line showing a range of processing on said second workpiece, in a manner as to be added to said second workpiece model; a taught-point calculating section for determining a geometrical correlation between said processing path determined by said processing-path calculating section and said processing line generated by said model generating section, and determining positions and orientations at respective several taught points in said processing line, based on said position data and said orientation data at said several predefined taught points acquired by said data acquiring section and said geometrical correlation; and a program generating section for generating a second processing program for said second workpiece, by using said processing-condition data at said several predefined taught points acquired by said data acquiring section as well as said positions and said orientations at said several taught points determined by said taught-point calculating section.