Patent ID: 7643905

Claim:
A robot program correcting apparatus which displays three-dimensional models of a robot and a workpiece simultaneously on a screen of a display apparatus, and corrects an operation program for said robot, said apparatus comprising: touchup position storing means for storing, as a plurality of points, an actual position located on said workpiece by actually operating said robot to touch said actual position on said workpiece that corresponds to a working position specified on said screen; touchup line or touchup surface computing means for computing at least either a line or a surface based on said plurality of touchup points; working position storing means for storing, as a plurality of points, position information concerning said working position on said workpiece displayed on said screen; robot operation program retrieving means for retrieving said robot operation program based on said plurality of points stored in said working position storing means; working position line or surface computing means for computing at least either a line or a surface based on a plurality of working positions designated by said robot operation program; difference computing means for computing (i) a difference unit normal vector and (ii) an offset distance from a difference between (a) the surface calculated based on said working points and the surface calculated based on said touchup points, or between (b) the line calculated based on said working points and the line calculated based on said touchup points; and correcting means for correcting said robot operation program by computing the amount of correction based on said difference.