PROBLEM TO BE SOLVED: To enable a user to know an optimal position of a robot and the operation allowance before going to a field.;SOLUTION: A temporary arrangeable range of the robot is selected using data or the like of a provided working point row (working course). In the selecting conditions, (1) there is a solution of reverse kinematics for all working point rows, (2) there is no interference with peripheral devices, and (3) degree of operation allowance of all shafts clears a reference value (S1). A simulation by an operation program is performed under a condition that a robot is arranged in each temporary arrangeable range, and data such as cycle time, duty, energy value, acceleration/speed transition is collected (S2). Operation evaluation is performed for each temporary arrangeable range using the collected data, and reasonable one is set at an operable position (S3). Further, narrowing down is performed using an evaluation function having weighted view points, and an optimal operable arrangement is determined (S4).;COPYRIGHT: (C)2005,JPO&NCIPI
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