Robot motion program generating apparatus

A robot motion program generating apparatus that generates a motion program for moving a robot, avoiding an obstacle, comprising:

• a trajectory inputting section inputting a taught trajectory of the robot;
• a region setting section setting a tolerance region around the trajectory inputted by the trajectory inputting section, the tolerance region being a region providing a tolerance around motion points of the robot;
• a point-group setting section setting a motion-point group that is a collection of the motion points, by determining motion points of the robot in the tolerance region set by the region setting section, and iterating a task of connecting a source motion point to a subsequent motion point through a line segment, avoiding the obstacle, starting from one end and ending at the other end of the trajectory;
• a target value setting section setting a target approximate value that is a target value approximating the motion-point group that is set by the point-group setting section to the trajectory that is inputted by the trajectory inputting section;
• and
• a program generating section generating the motion program, based on the motion-point group set by the point-group setting section, wherein, the point-group setting section carries out tasks of:
• determining a minimum number of motion points on the trajectory that is inputted by the trajectory inputting section to specify a first motion line by iterating a task of connecting a source motion point to a subsequent motion point through a line segment, starting from one end and ending at the other end of the trajectory;
• determining a collection of the motion points specifying the first motion line as being the motion-point group, in the case where an approximation degree of the collection of the motion points specifying the first motion line, relative to the trajectory, exceeds the target approximate value that is set by the target value setting section;
• changing at least positions or a number of the motion points specifying the first motion line in the tolerance region that is set by the region setting section, in the case where an approximation degree of the collection of the motion points specifying the first motion line, relative to the trajectory does not exceed the target approximate value that is set by the target value setting section, to specify a second motion line by connecting between the position-changed motion points through line segments;
• determining a collection of the motion points specifying the second motion line as being the motion-point group, in the case where an approximation degree of the collection of the motion points specifying the second motion line, relative to the trajectory, exceeds the target approximate value that is set by the target value setting section;
• and
• iterating a task of specifying the second motion line, in the case where an approximation degree of the collection of the motion points specifying the second motion line, relative to the trajectory does not exceed the target approximate value that is set by the target value setting section.