Robot programming device for teaching robot program

A robot programming device for offline teaching a motion program in which a workpiece is processed by a tool mounted on a robot, the robot programming device comprising:

• a three-dimensional model locating part configured to locate three-dimensional models of the robot having the tool mounted thereon and the workpiece in a virtual space;
• a shape feature extracting part configured to extract shape features from the three-dimensional model of the workpiece, the shape features including at least one of (i) an outline or (ii) a surface of a basic shape including a circle and a polygon, or a combined shape constituted by combining a plurality of the basic shapes;
• a first reference position setting part configured to automatically set shape feature reference positions of the shape features;
• a second reference position setting part configured to automatically set a robot reference position of the robot;
• a movement order determining part configured to determine a movement order of the robot in which the robot is moved between the shape features, based on the shape feature reference positions and the robot reference position;
• and
• a motion program generating part configured to generate the motion program of the robot so that the robot moves the tool along the shape features and so that the robot is moved between the shape features according to the movement order.