The present invention relates to a method, system, and non-transitory computer-readable recording medium for assisting object control. According to one aspect of the invention, there is provided a method for assisting object control, comprising the steps of: determining a dominant component capable of dominantly representing a motion made by a user with reference to a trace of the motion, and dynamically establishing a motion reference spatial coordinate system with reference to the dominant component; and recognizing an intention of the motion with reference to at least one of the trace specified with respect to the motion reference spatial coordinate system and properties of the trace.

In a method for correcting a target position, a three-dimensional matrix is formed by piling up, in a Z-direction at predetermined intervals, matrix planes each formed by continuously connecting, in X- and Y-directions, quadrangular areas that are parallel to an XY-plane and each have a reference point, and a target position of a work robot designated in an operation space of the three-dimensional matrix is corrected. In this method, a first block and a second block are set which are individually contiguous with the specific block, and the target position is corrected based on respective reference points in the upper area and the lower area of the specific block, the first block, and the second block and the measured deviation amount of the work robot from the reference points.

A control device for a wire electric discharge machine includes: a shape analysis portion which looks ahead a machining program, and analyzes a machined shape of a workpiece; a machining path creation portion which creates machining paths of identical circular arc shape offsetting from a machined shape analyzed, wherein the offset value differs for the machining paths, and shape of a corner part are identical circular arc shape; a machining path creation portion which creates machining paths of concentric circle shape offsetting from a machined shape analyzed, wherein the offset value differs for the machining paths, and shape of a corner part are concentric circle shape; and a machining path selection portion which selects either of the machining paths of identical circular arc shape and concentric circle shape, based on at least one among the machining program, machined shape analyzed, and the machining paths of identical circular arc shape and concentric circle shape.

The present invention relates to a method, system, and non-transitory computer-readable recording medium for assisting object control. According to one aspect of the invention, there is provided a method for assisting object control, comprising the steps of: determining a dominant component capable of dominantly representing a motion made by a user with reference to a trace of the motion, and dynamically establishing a motion reference spatial coordinate system with reference to the dominant component; and recognizing an intention of the motion with reference to at least one of the trace specified with respect to the motion reference spatial coordinate system and properties of the trace.

A numerical controller, which can handle information on a use tool, calculates the shape of a workpiece being machined, based on an input machining program, shape information of the use tool, shape information of a unmachined workpiece, and a tool trajectory, and sets, as a movable range of the tool, a range in which the tool never contacts the workpiece being machined, based on the calculated shape of the workpiece being machined, if manual operation is performed during machining.

Provided is a task planning device including a simulator that is configured to simulate operation of a robot system including a plurality of devices by using models of the plurality of devices allocated in a virtual space, a system state acquisition unit that is configured to acquire a state of the robot system, and a task plan generation unit that is configured to dynamically generate a task plan to be executed by the robot system by operating the simulator based on the state acquired by the system state acquisition unit and content of a task instructed by a user.

A system for generating a path to be followed by a robot used to perform a process on a workpiece has a computing device that has program code for operating the robot and obtaining information related to the workpiece and a vision system that scans the workpiece to obtain images thereof that are provided to the computing device. The computing device processes the images to obtain geometric information about the workpiece that the computing device uses in combination with process related reference parameters stored in the computing device to generate program code for a path to be followed by the robot to perform the process on the workpiece. The computing device also includes code configured to verify for quality the generated program code for the path to be followed by the robot to perform the process on the workpiece.

A numerical controller reads out an instruction block included in a machining program, obtains machining information indicating a feature of a tool path instructed by the read instruction block, and stores a machining conditions related to a movement of a tool in association with the obtained machining information. Further, the machining information obtained together with the instruction block is determined, and a machining condition in the movement of the tool instructed by the instruction block is changed based on the determined machining information and the stored machining condition.

Command data indicating a command path of a tool is generated on the basis of tool data created on the basis of an inclination and a shape of the tool, and interpolation data for each interpolation period is generated and outputted. When a command block is a block commanding skiving processing, correction data for correcting the command path is generated on the basis of the tool data stored in the tool data storage unit, and the correction data corresponding to interpolation data outputted by an interpolation unit is outputted.

A tool path-generating method for computing a tool path to process a workpiece, wherein the tool path for a designated tool when processing using the designated tool is previously established. The tool path-generating method includes a path-computing process for computing, on the basis of the tool path for the designated tool, the tool path of a substitute tool differing from the designated tool when processing with the substitute tool. The path-computing process computes the portion that ultimately forms the machined surface when the workpiece is processed using the designated tool and sets the tool path for the substitute tool on the basis of the portion that ultimately forms the machined surface.