Abstract: A program creation apparatus acquires a work sequence executed by a robot, and creates a motion program based on the work sequence and a work information file in which information on work contained in the work sequence is recorded. Further, the work sequence is corrected from the work information file, and a new motion program based on a corrected new work sequence is created.

Abstract: A teaching support device configured to perform teaching to a robot which has a robot arm a tip of which is attached with a polishing tool, and which controls the robot arm with force control to perform a polishing task on an object includes a teaching point acquisition section configured to obtain information related to a plurality of teaching points set to the object, a polishing parameter acquisition section configured to obtain information related to a polishing parameter of the polishing task at the plurality of teaching points obtained by the teaching point acquisition section, and a display control section configured to display the teaching point out of the plurality of teaching points with a color based on the polishing parameter obtained by the polishing parameter acquisition section so as to overlap the object.

Abstract: A robot control device determines control parameters based on a table in which a correspondence relation between work contents of work to be performed by a robot and levels of the control parameters of the robot is specified. The table includes, as the work contents, first conveyance work for conveying a target object having weight less than a predetermined weight value and second conveyance work for conveying a target object having weight equal to or more than the predetermined weight value and includes, as the control parameters, for each of the first conveyance work and the second conveyance work, command followability indicating followability of the robot to a position command and an operation end determination standard indicating a standard for determining an operation end of the robot.

Abstract: A robot control device including a control section configured to cause a robot to perform work, wherein the control section is configured to decide control parameters based on a table in which is defined a correspondence relationship between work contents of the work to be performed by the robot and level of the control parameters of the robot, the table includes, as the control parameters, a command followability that indicates followability of the robot to a position command and an operation end determination reference that indicates a reference for determining an end of an operation of the robot, and each of level of the command followability and level of the operation end determination reference are changeable.

Abstract: A robot control device determines control parameters based on a table in which a correspondence relation between work contents of work to be performed by a robot and levels of the control parameters of the robot is specified. The table includes, as the work contents, conveyance work for conveying a target object and assembly work for assembling the target object and includes, as the control parameters, for each of the conveyance work and the assembly work, speed of the robot, command followability, and an operation end determination standard. A level of the speed of the conveyance work is higher than that of the assembly work. A level of the command followability of the conveyance work is lower than that of the assembly work. A level of the operation end determination standard of the conveyance work is lower than that of the assembly work.

Abstract: A teaching support device configured to perform teaching to a robot which has a robot arm a tip of which is attached with a polishing tool, and which controls the robot arm with force control to perform a polishing task on an object includes a teaching point acquisition section configured to obtain information related to a plurality of teaching points set to the object, a polishing parameter acquisition section configured to obtain information related to a polishing parameter of the polishing task at the plurality of teaching points obtained by the teaching point acquisition section, and a display control section configured to display the teaching point out of the plurality of teaching points with a color based on the polishing parameter obtained by the polishing parameter acquisition section so as to overlap the object.

Abstract: A force control parameter setup support method of supporting a setup of a force control parameter to be used for force control when controlling a robot arm a tip of which is attached with a polishing tool using the force control to perform a polishing task on an object including a first step of obtaining task information related to the polishing task, a second step of selectively reading out information of the force control parameter corresponding to the task information obtained in the first step from a storage section in which a plurality of pieces of information of the force control parameter is stored, and a third step of displaying the information of the force control parameter read out in the second step on a display section.

Abstract: A teaching support method includes: acquiring a movement of a robot arm having at least one joint, and a movement start point where the movement starts; calculating a plurality of candidates for an attitude of the robot arm at the movement start point that is acquired; calculating a state of rotation of the joint as of when the robot arm is moved according to the movement from the movement start point, for each of the plurality of candidates that are calculated; and reporting a result of calculation.

Abstract: A program creation apparatus acquires a work sequence executed by a robot, and creates a motion program based on the work sequence and a work information file in which information on work contained in the work sequence is recorded. Further, the work sequence is corrected from the work information file, and a new motion program based on a corrected new work sequence is created.

Abstract: A program creation apparatus acquires a work sequence executed by a robot, and creates a robot motion program containing a motion program based on the work sequence, an execution mode that can be enabled or disabled, and a command to switch to enable or disable the execution mode.