A surface following control method for a robot is used for controlling the robot including a hand part, an arm part, and a controller. In this surface following control method for the robot, processes including a normal direction identification process and a work tool posture control process are performed. In the normal direction identification process, a normal direction of a virtual shape at a virtual position where the work tool attached to the hand part contacts the virtual shape which is a shape represented by the formula is identified. In the work tool control process, the work tool attached to the hand part is brought into contact with the target workpiece at a corresponding position which is a position corresponding to the virtual position on the surface of the target workpiece, in a posture along the normal direction identified in the normal direction identification process.

A machining program editing assist apparatus includes a display controller. When a specific portion on a shape display area is designated via an input device, the display controller allows a display candidate specified by the specific portion to be displayed as a designated display target of the shape display area, and allows at least one portion of data being among at least one display candidate of a program data display area and sectioned by a machining process constituting the at least one machining process and corresponding to the designated display target of the shape display area to be displayed as a designated display target of the program data display area on the program data display area in a state in which a beginning of the at least one portion of data is set to a display start position of the program data display area.

A disclosed display device 14 includes an input unit 15 for entering an input parameter for vibration cutting, and a display unit 16 for showing a graph showing an allowable value for a setting parameter for vibration cutting based on the input parameter, wherein the input parameter includes at least one of a vibration frequency rate, a vibration amplitude rate, and a vibration direction, and the setting parameter includes a revolution number of a workpiece 20 or a tool 30, and a feeding speed of the workpiece 20 or the tool 30. This allows easy determination on the setting parameters for vibration cutting.

A plant drawing line detection system acquires a plant drawing that is used for construction, operation, and maintenance of a plant, displays the acquired plant drawing, accepts selection of a line that is desired from among a plurality of lines that are present in the displayed plant drawing, registers a line pattern of the accepted selection of the line, detects, from the displayed plant drawing, all of the lines each having a shape that is matched with a shape of the registered line pattern including the line that has been used for the selection, and provides a detection result related to the lines.

A plant drawing symbol detection system acquires a plant drawing that is used for construction, operation, and maintenance of a plant, displays the acquired plant drawing, accepts selection of a symbol that is desired from among a plurality of symbols that are present in the displayed plant drawing, registers a symbol pattern of the accepted selection of the symbol, detects, from the displayed plant drawing, all of the symbols each having a shape that is matched with a shape of the registered symbol pattern including the symbol that has been used for the selection, and provides a detection result related to the symbols.

A machining program editing assist apparatus includes a display controller. When a specific portion on a shape display area is designated via an input device, the display controller allows a display candidate specified by the specific portion to be displayed as a designated display target of the shape display area, and allows at least one portion of data being among at least one display candidate of a program data display area and sectioned by a machining process constituting the at least one machining process and corresponding to the designated display target of the shape display area to be displayed as a designated display target of the program data display area on the program data display area in a state in which a beginning of the at least one portion of data is set to a display start position of the program data display area.

A machined surface estimation device includes: an acquisition unit acquiring tool position data indicating the position of a tool, tool shape data indicating the shape of the tool, and workpiece shape data indicating the shape of a workpiece; a machining simulation unit executing a machining simulation for drawing the workpiece after machining on the basis of the tool position data, the tool shape data, and the acquired workpiece shape data; a machining information calculation unit calculating at least one type of machining information pertaining to the quality of the machined surface on the basis of the tool position data; a selection unit selecting one type of machining information from among the calculated at least one type of machining information; and a display unit displaying, in combination with the workpiece after machining, the selected one type of machining information.