Programming device and program

The problem to be solved by the present disclosure is to provide a programming device and a program capable of reducing the amount of correction required for a robot program created by off-line programming. This programming device is provided with a processing unit. The processing unit determines that a virtual drive unit obtained by simulating or simulating a drive unit of a robot with a computer enters a second singular point range that is larger than a first singular point range that is an actual singular point range of the drive unit. 本公开要解决的问题在于，提供一种能够减少用脱机编程制作出的机器人程序所需的修正量的编程装置及程序。本公开的编程装置具备处理部。处理部对用计算机模拟或仿真机器人的驱动部而得到的虚拟驱动部进入比第一特异点范围大的第二特异点范围这一情况进行判定，其中，所述第一特异点范围是所述驱动部的实际的特异点的范围。