Patent ID: 8290620

Claim:
A route creation method of creating a travel route of a traveling part to be moved by an operation of joints in a robot having a plurality of joints, the route creation method comprising at least one processor for the steps of: generating an intermediate point probabilistically between an initial position and a final position of the travel route and creating a plurality of candidate routes as candidates of the travel route between the initial position and the final position via the intermediate point; and evaluating a travel quantity of the traveling part of the robot with respect to each candidate route to select one travel route, wherein, when a new candidate route is created, a new intermediate point is set, a point which is at a distance closest to a newly created candidate intermediate point is selected from the final position or the intermediate point in the previously created candidate route, and when the intermediate point in a previously created candidate route is selected, a partial route between the selected intermediate point and the final position is used as a part of the new candidate route, and a point which is at a distance closest to the newly created candidate intermediate point is selected from the initial position or the intermediate point in the previously created candidate route, and when the intermediate point in the previously created candidate route is selected, a partial route between the selected intermediate point and the initial position is used as a part of the new candidate route.