Robot slider position setting device, robot slider position setting method, and robot slider position setting program

A robot slider position setting method for setting a position of a robot slider that moves while being loaded with a robot that performs predetermined work on a workpiece by using a tool provided at a distal end of the robot, the robot slider position setting method comprising:

• an interference-region setting step for setting an interference region with which the robot interferes in a predetermined ambient environment;
• an approaching-direction determination step for determining a direction of an arm of the robot as an arm approaching direction such that the direction does not overlap the interference region by fixing a wrist rotation center of the robot in a state where the tool is in an orientation according to a predetermined working position;
• a position determination step for determining the position of the robot slider based on the arm approaching direction determined in the approaching-direction determination step;
• and
• controlling the robot to perform the predetermined work based at least in part on the position of the robot slider determined by the position determination step.

A non-transitory computer readable storage medium for setting a position of a robot slider that moves while being loaded with a robot that performs predetermined work on a workpiece by using a tool provided at a distal end of the robot, the non-transitory computer readable storage medium causing a computer to function as:

• an interference-region-information storage unit that stores interference region information indicating an interference region with which the robot interferes in a predetermined ambient environment;
• an approaching-direction determination unit that determines a direction of an arm of the robot as an arm approaching direction such that the direction does not overlap the interference region by fixing a wrist rotation center of the robot in a state where the tool is in an orientation according to a predetermined working position;
• and
• a position determination unit that determines the position of the robot slider based on the arm approaching direction determined by the approaching-direction determination unit,
• wherein the computer controls the robot to perform the predetermined work based at least in part on the position of the robot slider determined by the position determination step.