Robot motion program generating method and robot motion program generating apparatus

A robot motion program generating method of generating a whole motion program that causes, by off-line teaching and without using a teach pendant, a dual-arm robot including two arms to perform whole work that is an entirety of work to be performed by the dual-arm robot, the method generating the whole motion program by using a program generating apparatus including (i) a graphical user interface (GUI) controller configured to display a graphical user interface (GUI) on a predetermined screen and receive a user input, (ii) a storage unit storing a plurality of template elemental motion programs, which correspond to a plurality of pieces of elemental work forming the whole work, respectively, and each of which contains one or more parameters, and each template elemental motion program of the plurality of template elemental motion programs is configured such that when all of the one or more parameters are specified, the corresponding piece of elemental work is performable by the dual-arm robot, and (iii) a program generator, the method comprising:

• a step A of performing operations for each of the plurality of template elemental motion programs stored in the storage unit sequentially, the operations including displaying a parameter specifying screen by using the GUI, the parameter specifying screen being a screen for specifying all of the one or more parameters of a particular template elemental motion program, and thereafter causing the storage unit to store the particular template elemental motion program as a custom elemental motion program when the one or more parameters of the particular template elemental motion program are specified by using the parameter specifying screen;
• and
• a step B of generating the whole motion program by the program generator based on a plurality of the custom elemental motion programs stored in the storage unit, the whole motion program containing the plurality of the custom elemental motion programs, the plurality of template elemental motion programs including a template elemental motion program that contains, at least, for a corresponding piece of elemental work, one or more sets of hand end position coordinates as the one or more parameters, the one or more sets of hand end position coordinates defining a necessary movement of the dual-arm robot for the corresponding piece of elemental work, the template elemental motion program being configured such that the necessary movement of the dual-arm robot is specified when all of the one or more sets of hand end position coordinates are specified.