An operation program modification device for a robot that is made
efficient in positional modification of a cluster of taught points in a
corner segment and the like. Sequential N taught points A1 through A6 to
be grouped are designated, and the operator executes the operation of
positional modification of an intermediate taught point A4. A
modification vector for modifying A4 into B4 is calculated. Taught points
A2, A3 and A5 located in between the taught point A4 and end points A1
and A6 are grouped into first-region taught points A2 and A3 and a
second-region taught point A5. The required modification amounts of the
taught points A2, A3 and A5 are calculated by prorating the modification
vector according to distance (path distance or straight line distance)
from the end-point A1 or A6 to be modified into taught points B2, B3 and
B5, respectively. The modification vector may be set to correspond to a
modified taught point of a user selection. It is possible to perform
necessary input from a teaching operation panel instead of utilizing an
offline programming system using a personal computer.
