Program creating method for uniform-shape machining

A method for creating machining programs controlling uniform-shape machining of a machining shape in at least two machining positions on a circumference of one circle on a workpiece, said method comprising the steps of:

• creating the machining programs for controlling machining for the machining shape in specific machining positions on the workpiece;
• setting one of three orthogonal axes comprising a first coordinate system of a robot control apparatus parallel to a direction of a normal of a rotation plane, on which a point representing the machining shape in a specific machining position is shifted to coincide with another point representing the machining shape on the workpiece in another machining position by being rotated around a center of rotation on the rotation plane by a predetermined angle;
• setting a second coordinate system with three rectangular axes such that one axis thereof is in line with a direction of a line normal to said rotation plane and other two axes define said rotation plane;
• individually inputting a position of the center of rotation of said rotation plane and the angle for the rotational shift to the robot control apparatus;
• calculating transform matrices individually for cases in which points representing the machining shape in said specific machining positions defined by said second coordinate system are shifted individually to the points representing the machining shape in other machining positions;
• and
• creating the machining programs for individual machining positions by converting machining data of the machining programs for said specific machining positions into machining data for the other machining positions by said transform matrix.