A robot program generation device (10) adapted to generate a robot program for operating a multi-articulated robot (2), the robot program generation device (10) comprising: an allowable shock value setting unit (11) is arranged to set permissible shock values for the joints of the robot (2), a joint information calculation unit (12) adapted to simulate the execution of a robot program in a virtual space (8) and positions and impacts of the robot Joints in association with time; a jerk checking unit (13) adapted to determine whether the jerks calculated by the joint information computing unit (12) are excessive jolts exceeding the allowable values or not; Identification unit (14) adapted to identify joints and positions of the joints in which the excessive impacts are generated; and a robot program adjusting unit (15) adapted to adapt the robot program by modifying a teaching position within the vicinity of the positions of the joints where the excessive shocks are generated so that the shocks generated by the joint information identifying unit (14) identified impacts are equal to or smaller than the permissible values.
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