A method for
fine tuning of a
robot program for a
robot application comprising an
industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the
robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a
fine tuning coordinate
system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected
pose in the
fine tuning coordinate
system, producing program instructions for said selected
pose in the fine tuning coordinate
system, running said one or more program instructions by the robot, determining the difference between the
pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft', Yft', Zft'.