Device, program, recording medium and method for preparing robot program

A robot programming device includes a workpiece-feature obtaining section obtaining workpiece feature information from a three-dimensional shape data of a workpiece; a retainer-position obtaining section obtaining relative position information between a workpiece and a workpiece retainer; a hand-position obtaining section obtaining relative position information between a workpiece and a hand; a storing section storing the workpiece feature information, the relative position information for the workpiece retainer and the relative position information for the hand, as a set of obtained data by correlating these information with each other, and also storing a plurality of sets of the obtained data with regard to a plurality of types of workpieces; an obtained-data retrieving section retrieving optimal obtained data including the workpiece feature information coinciding with a new-workpiece feature information, from among the sets of obtained data; and a program generating section generating a carrying operation program for a new workpiece by using the optimal obtained data.