Programming device and robot control method

1. A robot control method performed by a computer, comprising the steps of:

generating a program for causing a predetermined operation which passes through a plurality of movement destination points to be executed by a robot;

executing the predetermined operation by the robot according to control based on the program;

acquiring a photographed image capturing a reference point which is disposed at a position having a predetermined relative relationship with a position of the movement destination point; and

correcting information of the movement destination point included in the program, based on the photographed image and the predetermined relative relationship,

wherein, in the step of generating a program, a plurality of movement destination points specified based on information grouping a position of the reference point and the predetermined relative relationship are stored as candidates for the movement destination point,

wherein, in the step of generating a program, any movement destination point is selected from the candidates for the movement destination point, and a program is generated for causing a predetermined operation passing through the movement destination point thus selected to be executed by the robot, during program generation, and

wherein the robot is controlled based on corrected information of the movement destination point, in the step of executing.

2. A programming device comprising:

a program generation unit that generates a program for causing a predetermined operation passing through a plurality of movement destination points to be executed by a robot;

a robot control unit that causes the predetermined operation to be executed by the robot according to control based on the program;

an image acquisition unit that acquires a photographed image capturing a reference point that is arranged at a position having a predetermined relative relationship with a position of the movement destination point; and

a movement destination point correction unit that corrects information of the movement destination point included in the program, based on the photographed image and the predetermined relative relationship,

wherein the program generation unit stores a plurality of movement destination points specified based on information grouping a position of the reference point and the predetermined relative relationship, as candidates for the movement destination point, and

wherein the program generation unit selects any movement destination point from the candidates for the movement destination point, and generates a program for causing a predetermined operation passing through the movement destination point thus selected to be executed by the robot, during program generation, and

wherein the robot control unit controls the robot based on corrected information of the movement destination point.

3. The programming device according to claim 2 , wherein the program generation unit, in a case of the robot and another article interfering if the robot moves between the movement destination points, generates the program by inserting a relay point passed through during movement between the movement destination points, so that the robot moves on a path on which the interfering does not occur.

4. The programming device according to claim 3 , wherein the movement destination point correction unit does not correct information for the relay point.

5. The programming device according to claim 2 , wherein the movement destination point correction unit, while the robot is executing the predetermined operation, corrects information for movement destination points through which the robot subsequently moves.

6. The programming device according to claim 2 ,

wherein a plurality of the reference points is present, and image information for identifying respective reference points is included in each of the reference points,

wherein the image acquisition unit also captures image information for identifying the respective reference points, and

wherein the movement destination point correction unit identifies a reference point based on image information for identifying the respective reference points, and corrects information of the movement destination point corresponding to the reference point thus identified which is included in the program, based on the photographed image and the predetermined relative relationship.