A controller uses detection information of a contact sensor or time-series data of a detection value related to a drive motor included in a rotation mechanism and/or a feed mechanism to acquire a coordinate value when a cutting tool comes into contact with a to-be-cut object or a component. The controller determines a relative positional relationship between the cutting tool and a rotation center of the to-be-cut object based on coordinate values when the cutting tool comes into contact with the to-be-cut object subjected to turning work or a reference surface whose relative positional relationship with the rotation center of the to-be-cut object is known at least at two positions different from a rotation angle position of the cutting tool during the turning work.

This method of controlling an automated work cell provided with a robot arm comprises the steps of: a) calculating Cartesian instructions corresponding to the nominal articular instructions; b) calculating actual articular instructions from the Cartesian instructions, taking into account actual geometrical parameters of the robot arm; c) calculating for each nominal articular instruction and from the actual articular instruction, an articular instruction correction value; d) calculating, for each nominal articular instruction and from the calculated articular correction instruction, an effective articular instruction; e) calculating control instructions for each motor controller from the calculated effective articular instructions; f) transmitting the motor control instructions to each motor controller.

A control system of a machine tool which machines a work includes: a numerical control device which controls the drive axis of the machine tool based on control data; a machined surface measurement device which measures the machined surface of the work; and a data processing device, and the data processing device includes a drive axis control data acquisition portion which acquires, from the numerical control device, the chronological control data when the work is machined; a machined surface measurement data acquisition portion which acquires spatial machined surface measurement data after the machining of the work measured by the machined surface measurement device; and a data-associating processing portion which associates the chronological control data acquired by the drive axis control data acquisition portion and the spatial machined surface measurement data acquired by the machined surface measurement data acquisition portion with each other.

A method of accurately predicting energy consumption of an automatic tool change process is described. Automatic tool change durations at a plurality of groups of rotary tool position numbers are measured and a calculation model of the automatic tool change duration is obtained. A basic module power of machine is obtained. A basic module energy consumption of machine is obtained by calculation based on the basic module power of machine and the automatic tool change duration. A steady state power of tool changer is obtained. A steady state energy consumption of tool changer is calculated. A transient state energy consumption of tool changer is obtained by accumulating energy consumptions. An energy consumption prediction model of the automatic tool change process is obtained using the obtained basic module energy consumption of machine, the obtained steady state energy consumption of tool changer, and the obtained transient state energy consumption of tool changer.

This robot system includes a sensor system, a robot, and a robot controller, in which the robot controller recognizes a robot coordinate system but does not recognize a sensor coordinate system of the sensor system, and the robot controller creates a conversion matrix for carrying out coordinate conversion in a plane including an X-axis and a Y-axis on sets of position coordinates obtained by the sensor system based on the sets of position coordinates of a plurality of objects or points obtained by the sensor system and sets of position coordinates in an X-axis direction and a Y-axis direction in a robot coordinate system corresponding to the plurality of objects or points.

A sewing machine acquires a selected pattern that is selected from among a plurality of embroidery patterns. The sewing machine displays a pattern image representing the selected pattern. The sewing machine identifies a specified position indicated by the instruction. The sewing machine determines, when the selected pattern is acquired a plurality of times, whether one of a plurality of the pattern images is displayed at the identified specified position. When it is determined that the pattern image is displayed at the identified specified position, the sewing machine identifies the selected pattern for which the pattern image is displayed at the specified position as the editing target. When it is not determined that the pattern image is displayed at the identified specified position, the sewing machine identifies the selected pattern for which a mask region encompassing the selected pattern is set at the specified position as the editing target.

A production management computer totals the data of the component pickup operation quantity of the suction nozzle and the pickup error quantity sent from control device of each component mounter for each type of component, and calculates the ratio of the pickup quantity or the ratio of the pickup error quantity with respect to the component pickup operation quantity of the suction nozzle for each type of component as a component pickup rate. Here, production management computer separately calculates an after-feeder-setting component pickup rate, a main component pickup rate, a near-tape-trailing-end component pickup rate, and an after-splicing component pickup rate as component pickup rates for each type of component.

A data processing apparatus includes: a receiving unit: that receives first data defining a shape and a color of a three-dimensional object; and a generating unit, wherein when two or snore color components interfere with each other in one voxel as a result of performing a halftoning process for each of plural color components based on color information in the first data, the generating unit generates color voxel data by assigning any one of the two or more color components as color information of the one voxel and assigning the remaining color components of the two or more color components as color information of voxels present around the one voxel.

An arc processing method is provided. Firstly, a machining program code is provided, wherein the machining program code includes a control code for machining an arc having a start point and an end point. Then, the machining program code is analyzed to obtain a first start point vector and a first end point vector, both defined by a first coordinate system, of a tool. Then, the first start point vector is converted to a second start point vector defined by a second coordinate system. Then, the first end point vector is converted to a second end point vector defined by the second coordinate system. Then, a plurality of first interpolation vectors of interpolation points, defined by the second coordinate system and interposed between the second start point vector and the second end point vector, are obtained. Then, all the first interpolation vectors are converted into corresponding second interpolation vectors.

A coordinate information conversion device includes: calculation means for acquiring a plurality of pieces of image data obtained by capturing a set of positions including a position of a fixed object and a position of a movable part of a machine tool and calculating values of undefined numbers included in a predetermined conversion equation on the basis of the acquired plurality of pieces of image data; and first conversion means for converting a coordinate value in a first coordinate system which is a coordinate system for controlling driving of the movable part to a coordinate value in a second coordinate system which is a coordinate system for representing virtual information and is a coordinate system based on the position of the fixed object on the basis of the predetermined conversion equation of which the values of the undefined numbers are calculated by the calculation means.