Teaching point generation device that generates teaching points on basis of output of sensor, and teaching point generation method

A teaching point generation apparatus configured to generate a teaching point of a robot apparatus including a robot and an operation tool, comprising:

• a sensor configured to detect an operation position on an operation line in which the robot apparatus performs operation on a workpiece;
• a search point calculating unit configured to calculate a position of a search point for determining a next teaching point along the operation line based on at least one teaching point;
• a command unit configured to drive the robot so that the position of the robot moves to a movement point corresponding to the search point;
• and
• a teaching point setting unit configured to set a position of a teaching point based on the operation position detected by the sensor, after the position of the robot moves to the movement point;
• wherein
• the positions of a plurality of the teaching points along the operation line are set by repeating a setting control including the calculating a position of a search point by the search point calculating unit, the driving the robot by the command unit, and the setting a position of a teaching point by the teaching point setting unit.