Teaching apparatus, control method, and teaching program

A control method of controlling display of a display of a teaching apparatus, the control method for causing a processor to execute a program stored in a memory, the control method comprising executing on the processor the steps of:

• displaying in a 3D virtual robot as a simulation model of a robot in a simulation area of a screen of the display in an initial posture state and a plurality of first operation signs in the simulation area in an initial arrangement state, the plurality of first operation signs being configured to be synchronized with a control point of the 3D virtual robot along or around an X axis, a Y axis, and a Z axis due to an operation by an operator, the X axis, the Y axis, and the Z axis being perpendicular to each other and being a coordinate system of the 3D virtual robot, the plurality of first operation signs including at least four directional signs corresponding to positive and negative X directions along the X axis and positive and negative Y directions along the Y axis;
• displaying a plurality of second operation signs in an operation area of the screen of the display in the initial arrangement state corresponding to the initial posture state, the plurality of second operation signs being configured to move or rotate the control point of the 3D virtual robot along or around the X axis, the Y axis, and the Z axis due to the operation by the operator, the plurality of second operation signs including at least the four directional signs;
• moving or rotating the 3D virtual robot in the simulation area due to the operation via the plurality of second operation signs in the operation area by the operator;
• changing a viewpoint of the 3D virtual robot for the operator due to a swiping operation of part of the simulation area by the operator such that the 3D virtual robot is displayed in the simulation area in a first posture state;
• changing the initial arrangement state of each of the plurality of first operation signs in the simulation area and the plurality of second operation signs in the operation area to a first arrangement state in response to the first posture state of the 3D virtual robot in the simulation area, the first posture state corresponding to the first arrangement state;
• synchronizing a state of the four directional signs of the plurality of first operation signs in the simulation area with a state of the four directional signs of the plurality of second operation signs in the operation area while the initial arrangement state is changed to the first arrangement state;
• detecting an input of a reset operation;
• changing the viewpoint of the 3D virtual robot from the first posture state to the initial posture state when processor detects the input of the reset operation;
• and
• synchronizing the state of the four directional signs of the plurality of first operation signs in the simulation area with the state of the four directional signs of the plurality of second operation signs in the operation area while the first arrangement state is changed to the initial arrangement state.

A non-transitory computer-readable storage medium storing a teaching program for causing a computer to execute a process by a processor so as to perform the steps of:

• displaying a 3D virtual robot as a simulation model of a robot in a simulation area of a screen of the display in an initial posture state and a plurality of first operation signs in the simulation area in an initial arrangement state, the plurality of first operation signs being configured to be synchronized with a control point of the 3D virtual robot along or around an X axis, a Y axis, and a Z axis due to an operation by an operator, the X axis, the Y axis, and the Z axis being perpendicular to each other and being a coordinate system of the 3D virtual robot, the plurality of first operation signs including at least four directional signs corresponding to positive and negative X directions along the X axis and positive and negative Y directions along the Y axis;
• displaying a plurality of second operation signs in an operation area of the screen of the display in the initial arrangement state corresponding to the initial posture state, the plurality of second operation signs being configured to move or rotate the control point of the 3D virtual robot along or around the X axis, the Y axis, and the Z axis due to the operation by the operator, the plurality of second operation signs including at least the four directional signs;
• moving or rotating the 3D virtual robot in the simulation area due to the operation via the plurality of second operation signs in the operation area by the operator;
• changing a viewpoint of the 3D virtual robot for the operator due to a swiping operation of part of the simulation area by the operator such that the 3D virtual robot is displayed in the simulation area in a first posture state;
• changing the initial arrangement state of each of the plurality of first operation signs in the simulation area and the plurality of second operation signs in the operation area to a first arrangement state in response to the first posture state of the 3D virtual robot in the simulation area, the first posture state corresponding to the first arrangement state;
• synchronizing a state of the four directional signs of the plurality of first operation signs in the simulation area with a state of the four directional signs of the plurality of second operation signs in the operation area while the initial arrangement state is changed to the first arrangement state;
• detecting an input of a reset operation;
• changing the viewpoint of the 3D virtual robot from the first posture state to the initial posture state when processor detects the input of the reset operation;
• and
• synchronizing the state of the four directional signs of the plurality of first operation signs in the simulation area with the state of the four directional signs of the plurality of second operation signs in the operation area while the first arrangement state is changed to the initial arrangement state.