Patent ID: 7904201

Claim:
A robot programming device, for a robot system including a handling robot having a hand for gripping a workpiece and a processing robot cooperatively moved with the handling robot and having a work tool for processing the workpiece, the robot programming device making a motion program for the handling robot and the processing robot, the robot programming device comprising: a display part which indicates three-dimensional images of the handling robot, the hand, the processing robot, the work tool and the workpiece; a movement condition specifying part which specifies a condition of the movement of the workpiece by the handling robot; a positional relation specifying part which specifies a positional relation between the workpiece and the hand; a first candidate setting part configured to set a plurality of candidate positions locations of the handling robot; a first selecting part configured to select one or more location among the plurality of candidate locations of the handling robot where the handling robot does not interfere with another article when the handling robot is operated according to the condition of the movement of the workpiece and a positional relation between the workpiece and the hand, and determines a motion of the handling robot based on the selected location; a site specifying part which specifies a site on the workpiece to be processed; a second candidate setting part configured to set a plurality of candidate locations of the processing robot; a second selecting part configured to select one or more locations of the processing robot among the plurality of candidate locations where the processing robot does not interfere with another article when the processing robot is operated according to the condition of the movement of the workpiece and the position of the site on the workpiece to be processed, and determines the motion of the processing robot based on the selected location; and a program making part which makes the motion program for the handling robot and the processing robot based on the selected locations and determined motions of the handling robot and the processing robot.