Method and device for creating a robot control program

A device for creating a robot control program for operating a bending machine, the device comprising:

• the bending machine configured to machine a workpiece;
• at least one optical sensor configured to generate image material of a machining operation of the workpiece;
• and
• at least one computing unit configured for:
• extracting at least one of at least one part of the workpiece and at least one part of a hand of an operator handling the workpiece from the image material by comparing a 3D object of the workplace known from a bending plan with the image material,
• generating at least one of a trajectory and a sequence of movement points from the extracted image material,
• creating a robot control program by reverse transformation of at least one of the trajectory and the sequence of movement points, and
• wherein the computing unit is configured for dividing the image material into handling sections, in which the hand is in contact with the workpiece, and into machining sections, in which the hand is not in contact with the workpiece, and wherein gripping tools of the robot are controlled accordingly at the transitions between the sections.