Offline programming device

An offline programming device for making a measuring program for measuring an object to be worked by using at least one vision sensor mounted on a movable part of a robot, in order to correct the positional relation between the robot and the object in an offline simulation based on the measured positional relation between the robot and the object in the field, the offline programming device comprising:

• a storing part for storing a plurality of data in relation to a plurality of measurement points of the object and the position and the orientation of the vision sensor relative to the movable part of the robot;
• a calculating part for calculating the position and the orientation of the vision sensor relative to each measurement point when the measurement point is measured;
• a measuring program making part for making at least one measuring program, based on the plurality of data stored in the storing part, by means of which the position and the orientation of the vision sensor may be achieved;
• an evaluating part for evaluating the at least one measuring program according to a predetermined evaluative criteria;
• and
• a selecting part for selecting a measuring program, from the at least one measuring program, which satisfies the predetermined evaluative criteria.