JOG SUPPORT DEVICE FOR OFF-LINE PROGRAMMING, JOG SUPPORT METHOD AND JOG SUPPORT PROGRAM

摘要

PROBLEM TO BE SOLVED: To reduce a number of man-hour for teaching a position and an attitude of a robot in off-line programming.SOLUTION: A jog support device 2 for off-line programming comprises: a teaching point setting part 21 which sets a teaching point designated by a user on a surface of an object having a ridge line located in a virtual space; a ridge line retrieval part 22 which retrieves a point on the ridge line near the teaching point; a direction calculation part 23 which calculates a tangential direction, a main normal direction and a sub-normal direction at the point on the ridge line; a target coordinate system calculation part 25 which calculates a target coordinate system based on a position of the point on the ridge line, the tangential direction, the main normal direction and the sub-normal direction, and a predetermined parameter; and a movement command generating part 26 which generates a movement command so that a tool coordinate system set on a robot in the virtual space is coincident with the target coordinate system.SELECTED DRAWING: Figure 2