Method for fine tuning of a robot program

A computer program product for fine tuning of a robot program for a robot application comprising an industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the computer program product comprises program instructions which, when loaded into a computer, causes the computer to perform:

• a) receiving the programmed poses,
• b) receiving information about a fine tuning coordinate system,
• c) selecting one of said programmed poses,
• d) calculating said selected pose in the fine tuning coordinate system,
• e) producing one or more program instructions for said selected pose in the fine tuning coordinate system,
• j) ordering execution of said one or more program instructions, thereby moving the robot to said selected pose,
• f) determining the difference between the obtained pose and the desired pose,
• g) adjusting the fine tuning coordinate system in dependence of said difference, so that the obtained pose approaches the desired pose,
• h) saving the adjusted fine tuning coordinate system as a local fine tuning coordinate system for the selected pose, and
• i) producing one or more program instructions for said selected pose in the adjusted fine tuning coordinate system,
• j) repeating the steps c-i for at least one more of the programmed poses.