Abstract: A teaching device is a teaching device for a robot including a base, an arm having a plurality of links coupled to each other and coupled to the base, and a hand coupled to the arm. The teaching device includes a setter that sets a predetermined condition including start and end points of the hand in predetermined movement of the arm, and a deriver that derives a movement trajectory of the hand from the start point to the end point and a movement trajectory of the arm according to the movement trajectory of the hand based on the predetermined condition while changing the position of the base.

Abstract: A teaching device is a teaching device for a robot including a base, an arm having a plurality of links coupled to each other and coupled to the base, and a hand coupled to the arm. The teaching device includes a setter that sets a predetermined condition including start and end points of the hand in predetermined movement of the arm; a deriver that derives a movement trajectory of the hand from the start point to the end point and a movement trajectory of the arm according to the movement trajectory of the hand based on the predetermined condition; a display that displays at least one of the movement trajectory of the arm or the movement trajectory of the hand, the movement trajectories being derived by the deriver; and a corrector that corrects the movement trajectory displayed on the display according to user's input operation.

Abstract: A remix apparatus and a remix method are provided, which can generate new musical tone pattern data with new tempo and groove while partly maintaining the tempo and groove of the original musical tone pattern data. Musical tone pattern data having a first predetermined length are divided into a plurality of first musical tone piece data each having a second predetermined length smaller than the first predetermined length, and the musical tone pattern data are divided into second musical tone piece data each having a third predetermined length smaller than the first predetermined length and different from the second predetermined length.