Abstract: A robot assembly includes at least four load-bearing structural parts connected by joints between each two adjacent structural parts to form a chain, and a joint motor associated with each joint for the driven movement of the structural parts connected by the joint relative to each other. A control device is provided in one of the structural parts which is connected at both ends to an adjacent structural part via an associated joint. The control device is designed to control at least three of the joint motors, and the electrical connection of the control device to each of the joint motors necessary for the controlling process is provided by a separate control line dedicated to the associated joint motor.

Abstract: A method of adjusting a posture of a 6-axis robot standing in a direction perpendicular or substantially perpendicular to a robot mounting surface includes specifying axis central positions of three axes located at different heights in the direction perpendicular or substantially perpendicular to the robot mounting surface of the 6-axis robot, specifying two planes including two arcs of which rotation centers are represented by two axes farther away from the robot mounting surface among the three axes, specifying a position of a predetermined point on the arc farther away from the robot mounting surface among the two arcs, and determining an angle adjustment amount of the three axes in a rotation direction and an angle adjustment amount of an axis extending between the two axes in a rotation direction based on the specified axis central positions of the three axes, the specified two planes, and the specified position of the predetermined point.

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include attaching a registration device to a particular location of the surgical table and attaching a manipulator arm of the manipulator assembly to the registration device and determining a position and/or orientation of the surgical table relative the manipulator assembly using joint state sensor readings from the manipulator arm. In another aspect, methods for registration include tracking of one or more optical or radio markers with a sensor associate with the manipulator assembly to determine a spatial relationship between the surgical table and manipulator assembly.

Abstract: A control apparatus includes a processor that is configured to control a robot, and receive an object coordinate system set for an object not an end effector and not moving or rotating with the end effector. The processor is configured to execute a first control mode in which the end effector is moved and rotated according to a detected force while the force is detected by a force detector, and execute a second control mode in which, when a relative angle between a predetermined first axis of a moving coordinate system moving and rotating with the end effector and a predetermined second axis of the object coordinate system is smaller than an angle threshold value, the end effector is rotated to make magnitude of the relative angle closer to zero.

Abstract: Technology for milling selected portions of a workpiece by a cutting tool of a numerical control machine is described. The described technology provides methods and apparatuses for milling areas of a part so that more aggressive machining parameters can be used in the toolpath, thereby resulting in reduced machining time and load. The described technology additionally determines directions of the tool axis vector at points along a toolpath in order to achieve a desired part shape while optionally maintaining high material removal rates.

Abstract: A robot off-line programming method. The method includes: respectively obtaining a first data representing positions and orientations of the plurality of targets on at least one work piece, a second data representing position of the at least one work piece, a third data representing geometry of a tool, and a fourth data representing the tool position and orientation with respect to an end of the robot; obtaining the robot path for which the tool tip passes through the plurality of the targets on the at least one work piece; using a function of an inverse kinematics for the robot model in consideration of the first data, the second data, the third data and the fourth data, calculating how many of the targets on the obtained robot path are reachable to the tool in relation to various rotation angle of the tool around the tool axis within a predetermined range so as to comply with optimization criteria.

Abstract: By repeating for each control axis, that an axis angle of each control axis of an arm is detected during a direct teaching of a robot, a current position of a standard point defined on the arm or a tool is obtained based on the axis angle, a position instruction value that uses a position obtained by projecting the current position on a given movement route (moving direction) is generated as a target position, and each control axis is driven based on the position instruction value, until a deviation of an instruction angle corresponding to the position instruction value and the detected axis angle, or a deviation of the position instruction value and the current position of the standard point corresponding to the detected axis angle reaches a given value or below, the robot is taught, after the deviation becomes the given value or below, positional information on the arm.

Abstract: Provided is a teaching position correction device including a vision sensor attached to a tip end of an arm of a robot; a measurement unit measuring a three-dimensional position of the tip end of the robot when the sensor is arranged at a predetermined position with respect to each of reference points provided on an object or a holding device and not arranged on one straight line; and a calculation unit calculating relative positions of the reference points based on the measured three-dimensional position while the sensor is translated, where a teaching point position in an operation program of the robot is corrected in such a way that a change in relative positions of the robot and the holding device is compensated for, based on the relative positions of the reference points calculated before and after relocation of at least one of the robot and the holding device.

Abstract: Systems and methods for performing relative object localization using a local positioning system. The process in accordance with one embodiment solves the problem of determining the location (i.e., the position and orientation) of an object relative to a previous location of the object, or relative to another object, without the need for known 3-D data point positions in the environment. The process in accordance with another embodiment solves the problem of determining the location of the measurement instrument relative to a previous location of the measurement instrument using visible feature points on a target object as a reference, again without the need for known 3-D data point positions. The process in accordance with a further embodiment is capable of determining the locations of multiple objects relative to each other.

Abstract: A system for generating instructions for operating a robot to perform work on a workpiece has a 3D model or models of a robot scene that provides robot scene data. The system also has data of one or both hands of a gesture made with the one or both hands and a computation device that has program code configured to process the robot scene data and the gesture data to generate an instruction to operate the robot.

Abstract: A control device includes a robot control section that controls a robot including a hand and a force detecting section; and a operation-mode switching section that switches, when storing a position and a posture of the robot, a first mode for moving the robot by the robot control section until an external force applied to the hand satisfies a predetermined condition and a second mode for moving the robot by the robot control section on the basis of an external force applied to a first part included in the robot.

Abstract: Provided is a substrate conveying method including: holding a substrate by a holder; rotating the substrate while conveying the substrate; specifying a position of an edge of the substrate based on a position of the holder when the edge of the substrate crosses a facing surface of a sensor that is disposed on a conveyance trajectory of the substrate, and a position of the sensor; and removing an influence of the rotation of the substrate from the specified position of the edge of the substrate.

Abstract: Systems and methods for performing relative object localization using a local positioning system. The process in accordance with one embodiment solves the problem of determining the location (i.e., the position and orientation) of an object relative to a previous location of the object, or relative to another object, without the need for known 3-D data point positions in the environment. The process in accordance with another embodiment solves the problem of determining the location of the measurement instrument relative to a previous location of the measurement instrument using visible feature points on a target object as a reference, again without the need for known 3-D data point positions. The process in accordance with a further embodiment is capable of determining the locations of multiple objects relative to each other.

Abstract: A teaching apparatus for a robot which moves a work object so that the work object is aligned at a predetermined position and attitude, includes a display section that displays a screen for setting the predetermined position and attitude, an operation section that allows the screen to be operated, and a computation section that computes the predetermined position and attitude, in which the screen includes a first screen for operating the robot so as to move the work object into an imaging range of an imaging device, and a second screen for moving the work object so that the work object is aligned at a target position and attitude, and in which the computation section computes the predetermined position and attitude by using a captured image obtained by the imaging device imaging the work object, and the target position and attitude.

Abstract: A programming device receives a number of local coordinate systems from a user. Each local coordinate system is referenced directly or via at least one other local coordinate system to a global machine coordinate system of a motion-controlled machine. The programming device receives from the user, in each case with reference to one of the local coordinate systems, a number of positions to be approached by the end effector and/or a number of obstacles to be bypassed by the end effector. The programming device determines, with reference to the positions to be approached received from the user and the obstacles received from the user in the global machine coordinate system, the path to be traveled by the end effector The programming device stores the path to be traveled by the end effector as a first file so that it can be retrieved again at a later time.

Abstract: An automated machining head with vision and procedure includes a pressure foot provided with side windows with the capacity to open and close, encasing the machining tool, associated with a vertical movement device provided with mechanical locking, vision equipment connected to a computer and a communications module. The main advantage is endowing an anthropomorphic robot, originally designed for the car industry and with relatively low accuracy, with a notably higher machining accuracy, equivalent to equipment of a much greater accuracy or to parallel kinematic-type robots, also compensating, in real-time and in a continuous manner, for off-centring and loss of perpendicularity by the pressure foot, which are common in conventional heads and are a source of errors and inaccuracy.

Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.

Abstract: A robotic mount is configured to move multiple electronic video projectors. The robotic mount is movable in three-dimensions, whereby the associated video projectors are moveable in three-dimensional space.

Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide relative to a remote center, and a controller configured to manage operation of the entry guide manipulator in response to operator manipulation of one or more input devices. As the entry guide manipulator approaches a yaw/roll singularity, the controller modifies its operation to allow continued movement of the entry guide manipulator without commanding excessive joint velocities while maintaining proper orientation of the entry guide.

Abstract: A numerical control device controls a machine tool having an X axis for moving a turret to which tools are attached, a Z axis for moving work, and a B axis for rotating the turret and having at least one of an H axis for rotating the turret around a center line perpendicular to the center line of rotation of the B axis and a C axis for rotating the work around a center line parallel to the Z axis. The numerical control device includes a unit that performs, during an virtual Y-axis inclined surface machining mode, virtual Y inclined surface machining for moving the tool along the Y axis relatively to the inclined surface in a state in which the tool is inclined such that a center axis is perpendicular to an inclined surface inclined from the X axis and the Z axis.

Abstract: A machine system including a sensor unit detecting periodically an acceleration at a tip part of a movable member, a data acquisition unit acquiring first time-series data of the acceleration at the tip part of the movable member corresponding to sensor signal received via a wireless signal path, a data calculation unit configured to calculate second time-series data corresponding to the first time-series data based on a driving command of the motor, a delay time calculation unit calculating a delay time of the first time-series data with respect to the second time-series data according to a degree of correlation between first time-series data and the second time-series data, and a correction unit correcting the first time-series data based on the delay time.

Abstract: A control system and teaching method for a seven-axis articulated robot are provided, which system and method are capable of easily grasping a motion trajectory of the whole robotand thereby performing proper teaching during teaching operation. The control system includes a setting device for setting a specified plane in a teaching mode for teaching a seven-axis articulated robot; a control unit for controlling the movement of the seven-axis articulated robot so as to restrict a motion trajectory of an elbow portion within the plane set by the setting device; and a computing unit for performing inverse transform operation to calculate the pivot angle of each pivot axis based on a change in a position of the hand end, setting the restriction of the movement of the elbow portion as a constraint condition, when the position for the hand end is taught.

Abstract: Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.

Abstract: A method of navigating a robot includes creating a robot navigation map using a map database required for navigation of the robot; and creating a path on which no obstacle is located in the map database using the created robot navigation map. Further, the method of navigating the robot includes primarily controlling the robot so that the robot travels along the created path; and secondarily controlling the robot so that the robot avoids an obstacle on the path.

Abstract: A motion path search device which searches for a motion path of a movable part of a robot capable of being taught a motion by direct teaching in which the robot is directly moved by an operator includes: a first space identification unit which identifies a space swept through by the movable part of the robot in the direct teaching; a second space identification unit which identifies a space swept through by at least a portion of a body of the operator in the direct teaching; a space combining unit which calculates, as an accessible space, a union of the space identified by the first space identification unit and the space identified by the second space identification unit; and a path search unit which searches for a motion path of the movable part within the accessible space calculated by the space combining unit.

Abstract: A SLAM of a robot is provided. The position of a robot and the position of feature data may be estimated by acquiring an image of the robot's surroundings, extracting feature data from the image, and matching the extracted feature data with registered feature data. Furthermore, measurement update is performed in a camera coordinate system and an appropriate assumption is added upon coordinate conversion, thereby reducing non-linear components and thus improving the SLAM performance.

Abstract: An Automated Pharmacy Admixture System (APAS) may include a manipulator that transports medical containers such as bags, vials, or syringes about a substantially aseptic admixing chamber. In a preferred implementation, a gripper assembly is configured to substantially universally grasp and retain syringes, IV bags, and vials of varying shapes and sizes. In an illustrative embodiment, a gripping device may include claws configured to grasp a plurality of different types of IV bags, each type having a different fill port configuration. Embodiments may include a controller adapted to actuate a transport assembly to place a fill port of the bag, vial or syringe into register with a filling port such as a cannula located at a filling station, or be equipped with carousel transport systems that are adapted to convey bags, vials, and syringes to the admixture system and deliver constituted medications in bags, vials or syringes to an egress area.

Abstract: An apparatus for generating a saddle-shaped trajectory for intersection of two cylindrical conduits. The apparatus includes an encoder module, a motorized axial module connected with the encoder module and movable only in a direction parallel to a longitudinal axis of an intersecting cylindrical conduit and a motorized rotatable module connected with the motorized axial module and rotatable around the longitudinal axis of the intersecting cylindrical conduit. Control software provided in one of the modules includes an algorithm providing control of the modules for generation of the saddle-shaped trajectory on the two cylindrical conduits. The algorithm requires input of only a radius of each of the cylindrical conduits.

Abstract: A finite state machine (FSM)-based biped robot, to which a limit cycle is applied to balance the robot right and left on a two-dimensional space, and a method of controlling balance of the robot. In order to balance an FSM-based biped robot right and left on a two-dimensional space, control angles to balance the robot according to states of the FSM-based biped robot are set. The range of the control angles is restricted to reduce the maximum right and left moving distance of the biped robot and thus to reduce the maximum right and left moving velocity of the biped robot, thereby reducing the sum total of the moments of the biped robot and thus allowing the ankles of the biped robot to balance the biped robot to be controlled, and causing the soles of the feet of the biped robot to parallel contact the ground.

Abstract: An finite state machine (FSM)-based biped walking robot, to which a limit cycle is applied to balance the robot right and left on a two-dimensional space, and a method of controlling balance of the robot. In order to balance an FSM-based biped walking robot right and left on a two-dimensional space, control angles to balance the robot according to states of the FSM-based biped walking robot are set, and the control angles are controlled using a sinusoidal function to allow relations between the control angles and control angular velocities to form a stable closed loop within a limit cycle, thereby allowing the biped walking robot to balance itself while changing its supporting foot and thus to safely walk without falling down.

Abstract: A coordinated action robotic system may include a plurality of robotic vehicles, each including a platform and at least one manipulator movable relative thereto. The robotic system may also include a remote operator control station that may include a respective controller for each manipulator. The remote operator control station may also include a mapping module to map movement of each manipulator relative to its platform. Operation of the controllers for manipulator movement in a given direction produces corresponding movement of the respective manipulators in the given direction such that the robotic vehicles may be controlled as if they were one robotic vehicle. The coordinated movement may result in increased operational efficiency, increased operational dexterity, and increased ease of controlling the robotic vehicles.

Abstract: A substrate transfer robot sets an interference region in advance in the range of motion of the substrate transfer robot; stores a plurality of patterns of a combination of a starting position, a target position, and the interference region, the starting position and the target position being among taught positions; determines which pattern among the plurality of patterns a movement of the substrate transfer robot from the starting position to the target position matches when the substrate transfer robot moves between the plurality of taught positions; and determines a movement path from the starting position to the target position so as to avoid the interference region in accordance with the determined pattern so that the substrate transfer robot avoids the interference region.

Abstract: Provided is a robot capable of appropriately adjusting a position and the like of a main body in view of executing a specified task involving an interaction with a target object. While the position and posture of the main body (10) are being controlled according to a second target path, the robot (1) moves from a first specified area to a second specified area and stands there. In this state, a second position deviation (=the deviation of the position of the main body from a second target path) and a second posture deviation (=the deviation of the posture of the main body from a second target posture) are determined. According to the determination result, the second target path is corrected so that the subsequent position deviation and the like may be smaller.

Abstract: An operational space physical quantity calculation apparatus computes a physical quantity in an operational space describing a relationship between a force and acceleration acting on a link structure including a plurality of linked rigid bodies. The operational space physical quantity calculation apparatus includes a forward dynamics calculating unit configured to perform a forward dynamics calculation on the basis of force information about a force acting on the link structure in order to obtain accelerations occurring at certain points of the link structure and an operational space physical quantity computing unit configured to compute an inverse operational space inertia matrix and an operational space bias acceleration by causing the forward dynamics calculating unit to perform the forward dynamics calculation using a kinetic model of the link structure.

Abstract: According to an embodiment, a numerically controlled (NC) processing system includes materials processing installation having a multi-axis kinematic linkage operable to position a tip portion of the linkage along a predetermined process path. The system also includes a processor having a compensation system operable to detect a singular point in the process path and to improve the accuracy tip portion positioning near the singular point.

Abstract: A method is provided for teaching a transfer robot used in conjunction with a workpiece processing system including a pedestal assembly, a light sensor having an optical input fixedly coupled to the pedestal assembly, a transfer robot having an end effector, and a processing chamber containing the pedestal assembly and light sensor. The method includes the steps of producing light within the processing chamber, moving the end effector over the optical input such that amount of light reaching the light sensor varies in relation to the position of the end effector, and recording the signal gain as the end effector is moved over the optical input. The method also includes the step of establishing from the recorded signal gain a desired position of the end effector relative to the pedestal assembly.

Abstract: The subject invention relates to systems and methods that facilitate motion between different coordinate systems in an industrial control environment. The systems and methods accept data in one coordinate system and transform the data to a different coordinate system. Suitable transformations include instructions that transform between Cartesian, pre-defined non-Cartesian, and user-defined non-Cartesian coordinate systems, including transformations between a non-Cartesian coordinate system to another non-Cartesian coordinate system. Such transformations can be programmed in essentially any industrial control language and can be seamlessly integrated with the control environment. The systems and methods can be utilized to generate a motion instruction that includes, among other information, source and target coordinate systems and the transformation between them.

Abstract: A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.

Abstract: A lithographic apparatus includes a projection system to project a patterned beam of radiation onto a substrate, which is held on a substrate support and a drive system to move the substrate support along a trajectory. In the drive system, set-point data, including set-point coordinates, are generated for moving the substrate support relative to the projection system in a first and second directions. The set-point coordinates of the first and second directions are transformed into set-point coordinates of third and fourth directions. Motion data, including motion coordinates, are generated for moving the substrate support relative to the projection system in the third and fourth directions, limiting the velocity in the third and fourth directions to a maximum velocity. The motion coordinates of the third and fourth directions are transformed into motion coordinates of the first and second directions for driving the first and second drive motors.

Abstract: A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

Abstract: A robot program correcting apparatus, which displays three-dimensional models of a robot and a workpiece simultaneously on the screen of a display apparatus, and corrects an operation program for the robot, includes: a unit retrieving a robot operation program and a working position based on at least either a line or a surface computed from touchup points and on a touchup position or points representing a working position specified on the screen; a difference computing unit computing a difference between at least either the line or surface computed from the touchup points and at least either a line or a surface computed from the plurality of points as position information representing the retrieved working position; and a correcting unit correcting the robot operation program by computing the amount of correction based on the difference, thereby reducing the number of steps required when correcting the robot operation program.

Abstract: A system and process is provided for controlling a robot path of a robot including providing a main path for movement of the robot based on path data having points along the main path and providing a safe evacuation path from each point in the main path to get to a safe position. The main path is formed with safety evacuation path considerations in mind such that along any point on ride path the robot can be safely moved to a safety point or to the unload position or safe position.

Abstract: This invention discloses a method and system for measuring a CNC machine. The system comprises a platform, a driving module, a set of optical scales, and a detection module. The platform is driven by the driving module. In addition, the driving module further comprises a set of encoders. As the driving module drives the platform to move to a position by a first displacement, the encoders indicate the first displacement. The optical scales indicate a second displacement by which the platform is driven by the driving module. The detection module detects the difference between the first displacement and the second displacement.

Abstract: An Automated Pharmacy Admixture System (APAS) may include a manipulator that transports medical containers such as bags, vials, or syringes about a substantially aseptic admixing chamber. In a preferred implementation, a gripper assembly is configured to substantially universally grasp and retain syringes, IV bags, and vials of varying shapes and sizes. In an illustrative embodiment, a gripping device may include claws configured to grasp a plurality of different types of IV bags, each type having a different fill port configuration. Embodiments may include a controller adapted to actuate a transport assembly to place a fill port of the bag, vial or syringe into register with a filling port such as a cannula located at a filling station, or be equipped with carousel transport systems that are adapted to convey bags, vials, and syringes to the admixture system and deliver constituted medications in bags, vials or syringes to an egress area.

Abstract: A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.

Abstract: The invention provides systems and methods that integrate and/or control motion of a plurality of axes in a motion control environment. Grouped axes can be linked (e.g., via a tag) to provide desired multi-axis coordinated motion as well as provide control for corresponding aspects of motion such as acceleration, velocity, etc. Such axes can be integrated with other control functionality such as process and/or machine control to provide the user with a comprehensive control. The foregoing can provide simple mechanisms for moving devices in multiple axes of a coordinate system in a coordinated fashion. Such coordinated move functionality can provide a user-friendly interface for linear and circular moves in multi-dimensional space. The algorithm employed for path planning can provide fast execution and dynamic parameter changes (e.g., maximum velocity, acceleration and deceleration) along a desired path of motion.

Abstract: A docking system includes: a station including: a light emitter comprising light emitting elements arranged in a circular arc form so as to cause optical axes of light generated from the light emitting elements to pass through a curvature center of the circular arc; and a self-moving robot including: a body part having a circular arc part being substantially the same in curvature radius as the circular arc of the station; a movement mechanism attached to the body part to move the body part and capable of causing the body part to conduct on-the-spot rotation at a curvature center of the circular arc part; light receivers attached to the body part to receive a light signal from the light emitter; a direction detector detecting a direction in which the light signal is emitted; and a controller controlling the movement mechanism to move the body part in the direction detected by the direction detector.

Abstract: A robotic treatment delivery system including a linear accelerator (LINAC), and a robotic arm coupled to the LINAC. The robotic arm is configured to move the LINAC along at least four rotational degrees of freedom and one substantially linear degree of freedom.

Abstract: A robot control apparatus capable of largely reducing a calculation amount to be capable of lowering a load of a CPU is provided.

Abstract: A teaching device and a teaching modification device capable of easily attaining conformity between an operation program of a robot prepared by off-line programming and an actual operation of the robot. A layout of a robot system including three-dimensional models of the robot and peripheral objects thereof (table, a workpiece, etc.) are prepared by an off-line programming system and taught points are defined for the workpiece. The system layout and a model of the workpiece are displayed on a display device of a teaching pendant. An operator specifies a present position of the operator in the system layout and a taught point to be modified referring to the display device. A line-of-sight vector is automatically calculated and the model of the workpiece as viewed from a direction of the line-of-sight is displayed on the display device.