A differentiable simulator for simulating the cutting of soft materials by a cutting instrument is provided. In accordance with one aspect of the disclosure, a method for simulating a cutting operation includes: receiving a mesh for an object, modifying the mesh to add virtual nodes associated with a predefined cutting plane, optimizing a set of parameters associated with a simulator based on ground-truth data, and running a simulation via the simulator to generate outputs that include trajectories associated with a cutting instrument. Optimizing the set of parameters can include performing inference based on a set of ground-truth trajectories captured using sensors to measure real-world cutting operations. The inference techniques can employ stochastic gradient descent, stochastic gradient Langevin dynamics, or a Bayesian approach. In an embodiment, the simulator can be utilized to generate control signals for a robot based on the simulated trajectories.

A parameter indicating a surface property of an object surface is plotted on the horizontal axis, a normal direction change rate of the shape of the object surface is plotted on the vertical axis, the minimum normal direction change rate visible to a person is associated with the parameter indicating the surface property of the object surface to create a visible area map, the relationship between the parameter indicating the surface property of a machining surface of a workpiece, and the maximum value of the normal direction change rate of the shape of the machining surface of the workpiece is displayed on the visible area map, and the object surface is evaluated.

This control device of a machine tool is provided with: a storage unit which stores in advance a nominal diameter and a nominal length of a blade part of a rotary tool; an image-capturing instruction unit which outputs an image-capturing instruction to an image-capturing device; a model creation unit which generates model data of the blade part of the tool on the basis of the nominal diameter and the nominal length stored in the storage unit, generates model data of a tool shank and holder on the basis of an image stored in the image-capturing device, and creates model data of the rotary tool on the basis of the generated model data of the blade part and the generated model data of the tool shank and holder.

This control device of a machine tool is provided with: a storage unit which stores in advance a nominal diameter and a nominal length of a blade part of a rotary tool; an image-capturing instruction unit which outputs an image-capturing instruction to an image-capturing device; a model creation unit which generates model data of the blade part of the tool on the basis of the nominal diameter and the nominal length stored in the storage unit, generates model data of a tool shank and holder on the basis of an image stored in the image-capturing device, and creates model data of the rotary tool on the basis of the generated model data of the blade part and the generated model data of the tool shank and holder.

A teaching device constructs, in a virtual space, a virtual robot system in which a virtual 3D model of a robot and a virtual 3D model of a peripheral structure of the robot are arranged, and teaches a moving path of the robot. The teaching device includes an acquisition unit configured to acquire information about a geometric error between the virtual 3D models, and a correction unit configured to correct the moving path of the robot in accordance with the information acquired by the acquisition unit.

A teaching device constructs, in a virtual space, a virtual robot system in which a virtual 3D model of a robot and a virtual 3D model of a peripheral structure of the robot are arranged, and teaches a moving path of the robot. The teaching device includes an acquisition unit configured to acquire information about a geometric error between the virtual 3D models, and a correction unit configured to correct the moving path of the robot in accordance with the information acquired by the acquisition unit.

An offline programming device includes an input unit that receives input of a plurality of teaching points, a creation unit that determines intermediate point located between adjacent teaching points and creates an operation program for the robot, a simulation unit that simulates a movement trajectory of the robot when the operation program is executed, and a display unit that displays a GUI screen representing the movement trajectory. The GUI screen includes a first display area showing a time series sequence of the plurality of teaching points and a second display area. When an error is detected in the movement trajectory, a section between the teaching points including the point in time when the error occurs is displayed in the first display area according to a first error display method.

An offline programming device includes an input unit that receives input of a plurality of teaching points, a creation unit that determines intermediate point located between adjacent teaching points and creates an operation program for the robot, a simulation unit that simulates a movement trajectory of the robot when the operation program is executed, and a display unit that displays a GUI screen representing the movement trajectory. The GUI screen includes a first display area showing a time series sequence of the plurality of teaching points and a second display area. When an error is detected in the movement trajectory, a section between the teaching points including the point in time when the error occurs is displayed in the first display area according to a first error display method.

A movement path drawing device includes an execution time storage unit that stores execution times of respective blocks of control programs, a program analysis unit that creates movement command data by analyzing the control programs, a movement path creation unit that creates the movement paths of the movable parts on the basis of the created movement command data, a drawing execution control unit that performs drawing execution control for drawing movement paths indicating a positional relationship between the movable parts of the plurality of systems of the machine at a predetermined time on the basis of the execution times of the respective blocks and the movement paths of the movable parts, created by the movement path creation unit, and a drawing unit that executes drawing processing for drawing the movable parts of the plurality of systems.

A movement path drawing device includes an execution time storage unit that stores execution times of respective blocks of control programs, a program analysis unit that creates movement command data by analyzing the control programs, a movement path creation unit that creates the movement paths of the movable parts on the basis of the created movement command data, a drawing execution control unit that performs drawing execution control for drawing movement paths indicating a positional relationship between the movable parts of the plurality of systems of the machine at a predetermined time on the basis of the execution times of the respective blocks and the movement paths of the movable parts, created by the movement path creation unit, and a drawing unit that executes drawing processing for drawing the movable parts of the plurality of systems.