Program creation device

A program creation device for creating an operation program for a robot for removal machining of a workpiece having a machined surface and a reference surface displaced from the machined surface,

• the robot for removal machining comprising a removal machining tool,
• the program creation device comprising:
• a processor, and a memory,
• the processor being configured to acquire position information relating to a positional relationship between the machined surface and the reference surface of the workpiece,
• the memory being configured to retain tool information including shape information and pose information of the removal machining tool,
• the processor being configured to create the operation program for the robot for removal machining based on the position information of the workpiece and the tool information of the removal machining tool, and
• the processor being further configured to select a use part and a pose of the removal machining tool so as to avoid interference between the removal machining tool and the reference surface of the workpiece,
• wherein, when the workpiece has a protrusion protruding from the reference surface, and a portion where removal machining is difficult is included in a machining area of the machined surface corresponding to a protruding surface of the protrusion having a second amount of displacement between the machined surface of the workpiece and the protruding surface of the protrusion parallel to the reference surface because the second amount of displacement is smaller than a first amount of displacement between the machined surface and the reference surface of the workpiece, the processor changes the use part of the removal machining tool, pose of the removal machining tool, or shape of the removal machining tool, in the portion where removal machining is difficult, depending on a size of a difference between the first amount of displacement and the second amount of displacement.