An offline programming device includes an input unit that receives input of a plurality of teaching points, a creation unit that determines intermediate point located between adjacent teaching points and creates an operation program for the robot, a simulation unit that simulates a movement trajectory of the robot when the operation program is executed, and a display unit that displays a GUI screen representing the movement trajectory. The GUI screen includes a first display area showing a time series sequence of the plurality of teaching points and a second display area. When an error is detected in the movement trajectory, a section between the teaching points including the point in time when the error occurs is displayed in the first display area according to a first error display method.

A method for determining a control position of a robot includes (a) acquiring N real reference positions in a real space and N control reference positions in a robot control coordinate system, (b) setting M figures having vertices in a plurality of real reference positions of the N real reference positions within the real space, and obtaining a transform function expressing a correspondence relationship between a real position and a control position within each figure, (c) receiving input of a target position of the control point in the real space, (d) selecting an object figure for calculation of a control position for the target position from the M figures, and (e) calculating a target control position for the target position using the transform function with respect to the object figure.

A robot calibrating apparatus calibrating a command value for a robot body 2 whose position and orientation is controlled based on the command value, includes an operating unit configured to calculate a calibrating function of calibrating the command value, based on the difference between an ideal position and orientation of the robot body 2 and an actual position and orientation of the robot body 2. The ideal position and orientation is operated based on a command value .sup.RH.sub.T.sup.com for calibration used during calibration or on a control result value which is a result of control according to the command value. The actual position and orientation is operated based on a measurement value .sup.RH.sub.T.sup.meas for calibration acquired by a camera 3 arranged at a prescribed relative position and orientation with respect to the robot body 2 during the robot body 2 being controlled according to the command value for calibration.

A control device, which controls a robot having a movable unit including a plurality of arms, includes a processor that performs calibration between a coordinate system of an imaging unit disposed in an arm different from an arm positioned on a most distal side of the movable unit and a coordinate system of the robot. The processor performs the calibration, based on a captured image obtained by causing the imaging unit to image a marker.

A control device, which controls a robot having a movable unit including an arm provided with an imaging unit, includes a processor that obtains a posture of the imaging unit by translating the arm. The processor obtains the posture of the imaging unit, based on a direction of translating the arm and a movement direction in a coordinate system of the imaging unit in response to the translation of the arm.

A robot calibrating apparatus calibrating a command value for a robot body 2 whose position and orientation is controlled based on the command value, includes an operating unit configured to calculate a calibrating function of calibrating the command value, based on the difference between an ideal position and orientation of the robot body 2 and an actual position and orientation of the robot body 2. The ideal position and orientation is operated based on a command value .sup.RH.sub.T.sup.com for calibration used during calibration or on a control result value which is a result of control according to the command value. The actual position and orientation is operated based on a measurement value .sup.RH.sub.T.sup.meas for calibration acquired by a camera 3 arranged at a prescribed relative position and orientation with respect to the robot body 2 during the robot body 2 being controlled according to the command value for calibration.

A robot calibrating apparatus calibrating a command value for a robot body 2 whose position and orientation is controlled based on the command value, includes an operating unit configured to calculate a calibrating function of calibrating the command value, based on the difference between an ideal position and orientation of the robot body 2 and an actual position and orientation of the robot body 2. The ideal position and orientation is operated based on a command value .sup.RH.sub.T.sup.com for calibration used during calibration or on a control result value which is a result of control according to the command value. The actual position and orientation is operated based on a measurement value .sup.RH.sub.T.sup.meas for calibration acquired by a camera 3 arranged at a prescribed relative position and orientation with respect to the robot body 2 during the robot body 2 being controlled according to the command value for calibration.

An offline programming device includes an input unit that receives input of a plurality of teaching points, a creation unit that determines intermediate point located between adjacent teaching points and creates an operation program for the robot, a simulation unit that simulates a movement trajectory of the robot when the operation program is executed, and a display unit that displays a GUI screen representing the movement trajectory. The GUI screen includes a first display area showing a time series sequence of the plurality of teaching points and a second display area. When an error is detected in the movement trajectory, a section between the teaching points including the point in time when the error occurs is displayed in the first display area according to a first error display method.