Off-line-programming jog assist device, jog assist method, and recording medium storing jog assist program

An off-line-programming jog assist method in which a computer executes:

• a step of setting a teaching point specified by a user on a surface of an object that is disposed in a virtual space and that has a ridgeline;
• a step of searching for a point on the ridgeline in the vicinity of the teaching point;
• a step of calculating a tangential direction, a principal-normal direction, and a binormal direction at the point on the ridgeline;
• a step of calculating a target coordinate system based on the position of the point on the ridgeline, the tangential direction, the principal-normal direction, the binormal direction, and predetermined parameters;
• and
• a step of generating a move command so as to cause a tool coordinate system that is set for a robot in the virtual space to coincide with the target coordinate system.

A non-transitory recording medium storing an off-line-programming jog assist program for causing a computer to execute:

• a process of setting a teaching point specified by a user on a surface of an object that is disposed in a virtual space and that has a ridgeline;
• a process of searching for a point on the ridgeline in the vicinity of the teaching point;
• a process of calculating a tangential direction, a principal-normal direction, and a binormal direction at the point on the ridgeline;
• a process of calculating a target coordinate system based on the position of the point on the ridgeline, the tangential direction, the principal-normal direction, the binormal direction, and predetermined parameters;
• and
• a process of generating a move command so as to cause a tool coordinate system that is set for a robot in the virtual space to coincide with the target coordinate system.