Abstract: An original creating apparatus and an originality guaranteeing apparatus prevent a document and a signature from being falsified while visually displaying the signature, etc. For example, time data (t1) is added to data of a document (development plan document) and data of a seal column of a creator, an electronic signature is put, and a checksum (CS1) is geenrated. Then, an original file including also the checksum (CS1) is created, and transmitted to an approver side. The approver side verifies the checksum (CS1), makes a comparison between the checksum (CS1) obtained as a result of the verification, and the checksum recorded to the file, and whether or not both of the checksums match is determined, so that the originality is confirmed. With such a configuration, the presence/absence of falsification can be verified, whereby a document transfer can be visually made while guaranteeing the originality of document data.

Abstract: A robot profile control system permits a force control robot to perform a profiling operation on a surface of a work object having curved surfaces of unknown contours. The robot profile control system resets a profile coordinate system for the profile operation on the basis of force acting between the end of the robot and the work object. The force is detected by a force detecting section of the robot profile control system.

Abstract: A robot profile control system permits a force control robot to perform a profiling operation on a surface of a work object having curved surfaces of unknown contours. The robot profile control system resets a profile coordinate system for the profile operation on the basis of force acting between the end of the robot and the work object. The force is detected by a force detecting section of the robot profile control system.