Abstract: A surface of a workpiece has a smooth region, and a stepped region including a step. A three-dimensional object printing method includes first print operation of ejecting liquid from a head onto the smooth region, and second print operation, antecedent to or subsequent to the first print operation, of ejecting liquid from the head onto the stepped region. The amount of change in an angle of ejection, which is angle formed by a first normal line and a second normal line, during execution of the second print operation is larger than the amount of change in the angle of ejection during execution of the first print operation. The first normal line is a line normal to the ejection face. The second normal line is a line normal to the surface of the workpiece at a point of intersection with the first normal line.

Abstract: Provided is a wavelength conversion member capable of improving brightness of a light source device. Wavelength conversion member according to the present disclosure includes: first phosphor layer that is disposed on an incidence side where excitation light enters, and contains a plurality of first phosphor particles; and second phosphor layer that is disposed on a side reverse to the incidence side and contains a plurality of second phosphor particles. First phosphor particles include an activation component, second phosphor particles include an activation component same as or different from the activation component included in first phosphor particles, and a concentration of the activation component in first phosphor layer is lower than a concentration of the activation component in second phosphor layer.

Abstract: A teaching control method includes acquiring a plurality of teaching points from CAD data of a work target object and displaying the plurality of teaching points on a display section, acquiring a result of classification processing for classifying the plurality of teaching points into one or more teaching point groups, receiving an operation parameter for each teaching point group, and setting an operation value for each teaching point group using the operation parameter. The classification processing for classifying the plurality of teaching points into the teaching point groups is executed using attribute information of the work target object obtained from the CAD data.

Abstract: A display method according to an aspect of the present disclosure is a display method for displaying, on a display section, a simulation of a robot that executes work on an object with an end effector provided in an arm. The display method includes receiving information concerning a type of the robot, receiving information concerning the end effector, receiving information concerning a position or a posture of a control point for controlling arms, calculating rigidity at a working point of the end effector based on the received information concerning the type of the robot, the received information concerning the end effector, and the received information concerning the position or the posture of the control point, and displaying a result of the calculation of the rigidity on the display section as a figure.

Abstract: A teaching method of teaching a position of a control point on a working route through which the control point set on a robot arm passes when the robot arm performs work and a posture of the robot arm using three-dimensional data of a working object, includes a first step of setting a predetermined first work point on the working route based on the three-dimensional data, and a second step of associating a first coordinate system set for the first work point with a second coordinate system set for the robot arm when the control point is located at the first work point, wherein, at the second step, one is selected from a plurality of candidates of the first coordinate system at the first work point, and the selected coordinate system is set as a first correction coordinate system for the first work point.

Abstract: A robot control method for controlling a robot including a robot arm that performs predetermined work on a work target object, the robot control method including a target-position setting step for setting, on simple shape data predicted from a plurality of projection shapes obtained by projecting the work target object from different directions, a plurality of target positions to which a control point of the robot arm in performing the predetermined work is moved and a driving step for driving the robot arm with force control based on the plurality of target positions set in the target-position setting step and force applied to the robot arm and performing the predetermined work.

Abstract: A surface of a workpiece has a smooth region, and a stepped region including a step. A three-dimensional object printing method includes first print operation of ejecting liquid from a head onto the smooth region, and second print operation, antecedent to or subsequent to the first print operation, of ejecting liquid from the head onto the stepped region. The amount of change in an angle of ejection, which is angle formed by a first normal line and a second normal line, during execution of the second print operation is larger than the amount of change in the angle of ejection during execution of the first print operation. The first normal line is a line normal to the ejection face. The second normal line is a line normal to the surface of the workpiece at a point of intersection with the first normal line.

Abstract: A teaching control method includes acquiring a plurality of teaching points from CAD data of a work target object and displaying the plurality of teaching points on a display section, acquiring a result of classification processing for classifying the plurality of teaching points into one or more teaching point groups, receiving an operation parameter for each teaching point group, and setting an operation value for each teaching point group using the operation parameter. The classification processing for classifying the plurality of teaching points into the teaching point groups is executed using attribute information of the work target object obtained from the CAD data.

Abstract: A teaching method of teaching a position of a control point on a working route through which the control point set on a robot arm passes when the robot arm performs work and a posture of the robot arm using three-dimensional data of a working object, includes a first step of setting a predetermined first work point on the working route based on the three-dimensional data, and a second step of associating a first coordinate system set for the first work point with a second coordinate system set for the robot arm when the control point is located at the first work point, wherein, at the second step, one is selected from a plurality of candidates of the first coordinate system at the first work point, and the selected coordinate system is set as a first correction coordinate system for the first work point.

Abstract: A control device comprising a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to: control a robot with force control on the basis of a force detected by a force detecting device, determine pass/fail of a result of fitting work in which the robot holds an object and fits the object in an object to be fit, control the robot with the force control in the fitting work, and determine the pass/fail on the basis of whether a portion where the force detected by the force detecting device decreases by a first value or more is present in the fitting work.

Abstract: A robot control method for controlling a robot including a robot arm that performs predetermined work on a work target object, the robot control method including a target-position setting step for setting, on simple shape data predicted from a plurality of projection shapes obtained by projecting the work target object from different directions, a plurality of target positions to which a control point of the robot arm in performing the predetermined work is moved and a driving step for driving the robot arm with force control based on the plurality of target positions set in the target-position setting step and force applied to the robot arm and performing the predetermined work.

Abstract: A display method according to an aspect of the present disclosure is a display method for displaying, on a display section, a simulation of a robot that executes work on an object with an end effector provided in an arm. The display method includes receiving information concerning a type of the robot, receiving information concerning the end effector, receiving information concerning a position or a posture of a control point for controlling arms, calculating rigidity at a working point of the end effector based on the received information concerning the type of the robot, the received information concerning the end effector, and the received information concerning the position or the posture of the control point, and displaying a result of the calculation of the rigidity on the display section as a figure.

Abstract: A control device comprising a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to: control a robot with force control on the basis of a force detected by a force detecting device, determine pass/fail of a result of fitting work in which the robot holds an object and fits the object in an object to be fit, control the robot with the force control in the fitting work, and determine the pass/fail on the basis of whether a portion where the force detected by the force detecting device decreases by a first value or more is present in the fitting work.

Abstract: A robot moves a first target object in a second direction different from a first direction based on an image captured by an imaging device from a time when the imaging device images the first target object at a first position until a time when the first target object reaches a second position which is in the same first direction as the first position.

Abstract: A method for manufacturing an electro-optical device includes performing a discharge-scanning by moving a nozzle row including a plurality of discharge nozzles and a substrate including a plurality of functional film partitioned areas relative to each other in a direction perpendicular to an array direction of the discharge nozzles in the nozzle row and by selectively discharging liquid from the discharge nozzles to deposit the liquid in the film formation partitioned areas to form a functional film, and performing a secondary scanning by moving the substrate and the nozzle row relative to each other in the array direction. The performing of the secondary scanning includes performing a first secondary scanning at least once in which a relative movement distance between the nozzle row and the substrate is equal to an integral multiple of an arrangement pitch of the film formation partitioned areas in the array direction.

Abstract: A liquid droplet discharging method of the present invention forms a pattern on a substrate by discharging liquid droplets on the substrate from a discharging bead having a liquid droplet discharging device, and moving the discharging head and the substrate relatively, and includes the steps of: preparing CAD data specified by a combination of a plurality of vector data; preparing bitmap data including an XY-matrix in which discharging positions of the liquid droplets are specified based on the CAD data; preparing liquid droplet discharging data for discharging of the liquid droplets based on the bitmap data; and forming the pattern by driving the liquid droplet discharging device based on the liquid droplet discharging data.

Abstract: A liquid droplet discharging method of the present invention forms a pattern on a substrate by discharging liquid droplets on the substrate from a discharging head having a liquid droplet discharging device, and moving the discharging head and the substrate relatively, and includes the steps of: preparing CAD data specified by a combination of a plurality of vector data; preparing bitmap data including-an XY-matrix in which discharging positions of the liquid droplets are specified based on the CAD data; preparing liquid droplet discharging data for discharging of the liquid droplets based on the bitmap data; and forming the pattern by driving the liquid droplet discharging device based on the liquid droplet discharging data.

Abstract: A liquid droplet discharging method of the present invention forms a pattern on a substrate by discharging liquid droplets on the substrate from a discharging head having a liquid droplet discharging device, and moving the discharging head and the substrate relatively, and includes the steps of: preparing CAD data specified by a combination of a plurality of vector data; preparing bitmap data including-an XY-matrix in which discharging positions of the liquid droplets are specified based on the CAD data; preparing liquid droplet discharging data for discharging of the liquid droplets based on the bitmap data; and forming the pattern by driving the liquid droplet discharging device based on the liquid droplet discharging data.

Abstract: A liquid droplet discharging method of the present invention forms a pattern on a substrate by discharging liquid droplets on the substrate from a discharging head having a liquid droplet discharging device, and moving the discharging head and the substrate relatively, and includes the steps of: preparing CAD data specified by a combination of a plurality of vector data; preparing bitmap data including an XY-matrix in which discharging positions of the liquid droplets are specified based on the CAD data; preparing liquid droplet discharging data for discharging of the liquid droplets based on the bitmap data; and forming the pattern by driving the liquid droplet discharging device based on the liquid droplet discharging data.

Abstract: A liquid droplet discharging method of the present invention forms a pattern on a substrate by discharging liquid droplets on the substrate from a discharging head having a liquid droplet discharging device, and moving the discharging head and the substrate relatively, and includes the steps of: preparing CAD data specified by a combination of a plurality of vector data; preparing bitmap data including an XY-matrix in which discharging positions of the liquid droplets are specified based on the CAD data; preparing liquid droplet discharging data for discharging of the liquid droplets based on the bitmap data; and forming the pattern by driving the liquid droplet discharging device based on the liquid droplet discharging data.