Program generation device and program generation method generating a route program for that returns tip of robot from end point by a prescribed distance

A program generation method comprising:

• an acquisition step of acquiring route data indicating a route to be followed by a tip of a robot with respect to a target;
• a detection step of detecting a pressing force for pressing the tip of the robot against the target;
• a storing step of storing a prescribed constant acquired from a measured amount of deflection caused when the tip of the robot presses the target and the pressing force detected by the detection step;
• a calculation step of calculating an amount of misalignment of the route to be followed caused due to deflection of the tip of the robot, based on the pressing force detected by the detection step and the prescribed constant;
• a generation step of automatically generating a route program for controlling a moving route of the tip of the robot based on the route data acquired by the acquisition step and the amount of misalignment calculated by the calculation step;
• and
• a sensing step of sensing the route to be followed by the tip of the robot with respect to the target and outputting the route data, wherein
• the generation step further includes generating a route program that:
• takes, as an end point, a coordinate value when a route that is acquired by compensating the route to be followed by the tip of the robot with the amount of misalignment approaches a singular point of the robot, a limit value of each drive axis, or a set prohibited zone;
• retracts the tip of the robot from the end point according to a designated route,
• automatically generates the route program for controlling the moving route of the tip of the robot based on the route data output from the sensing step and the amount of misalignment calculated by the calculation step, and
• generates a route program that returns the tip of the robot to the route to be followed that is sensed by the sensing step, after retracting the tip of the robot from the end point by a prescribed distance.