OFF-LINE-PROGRAMMING JOG ASSIST DEVICE, JOG ASSIST METHOD, AND RECORDING MEDIUM STORING JOG ASSIST PROGRAM

摘要

An off-line-programming jog assist device includes a teaching-point setting unit that sets a teaching point specified by a user on a surface of an object that is disposed in a virtual space and that has a ridgeline; a ridgeline searching unit that searches for a point on the ridgeline in the vicinity of the teaching point; a direction calculating unit that calculates a tangential direction, a principal-normal direction, and a binormal direction at the point on the ridgeline; and a target-coordinate-system calculating unit that calculates a target coordinate system on the basis of the position of the point on the ridgeline, the tangential direction, the principal-normal direction, the binormal direction, and predetermined parameters; and a move-command generating unit that generates a move command so as to cause a tool coordinate system that is set for a robot in the virtual space to coincide with the target coordinate system.