Teaching support method, teaching support device, and teaching support program

Abstract

The present application relates to a teaching support method, a teaching support device, and a teaching support program, capable of optimizing a posture of a robot arm at a motion start point. The teaching support method performs the following steps: acquiring a motion of a robot arm having at least one joint and a motion start point at which the motion is started; calculating a plurality of candidates of a posture of the robot arm at the acquired motion start point; calculating, for each of the calculated plurality of candidates, a rotation state of the joint when the robot arm is moved from the motion start point according to the motion; and notifying a result of the calculation.

Description

TECHNICAL FIELD

[0001] The present application relates to a teaching support method, a teaching support device, and a teaching support program. BACKGROUND

[0002] For example, in Patent Literature 1, a control device of a robot is described which corrects a rotation angle of a robot arm in a teaching point in the middle of a movement trajectory so that the robot arm can continuously move along the movement trajectory having three or more teaching points.

[0003] Patent Literature 1: Japanese Patent Application Publication No. 2011-62793

[0004] However, in the control device of Patent Literature 1, there is a case where, in a case where a posture of the robot arm at a movement start point of the movement trajectory is corrected with a reference, and the posture of the robot arm at the movement start point is not appropriate, the rotation angle of the robot arm in the teaching point in the middle of the movement trajectory cannot be properly set. SUMMARY

[0005] The teaching support method of the present application performs the steps of acquiring a movement of a robot arm having at least one joint and a movement start point at which the movement is started, calculating a plurality of candidates of a posture of the robot arm at the acquired movement start point, calculating a rotation state of the joint when the robot arm is moved from the movement start point according to the movement for each of the calculated plurality of candidates, and notifying a result of the calculation.

[0006] The teaching support device of the present application acquires a movement of a robot arm having at least one joint and a movement start point at which the movement is started, calculates a plurality of candidates of a posture of the robot arm at the acquired movement start point, calculates a rotation state of the joint when the robot arm is moved from the movement start point according to the movement for each of the calculated plurality of candidates, and notifies a result of the calculation.

[0007] The teaching support program of the present application acquires a movement of a robot arm having at least one joint and a movement start point at which the movement is started, calculates a plurality of candidates of a posture of the robot arm at the acquired movement start point, calculates a rotation state of the joint when the robot arm is moved from the movement start point according to the movement for each of the calculated plurality of candidates, and notifies a result of the calculation. BRIEF DESCRIPTION OF DRAWINGS

[0008] Figure 1 is a perspective view showing the overall configuration of a robot system according to the preferred embodiment.

[0009] Figure 2 is a block diagram showing a teaching support device.

[0010] Figure 3 is a diagram showing an example of a motion.

[0011] Figure 4 is a table showing parameters regarding a posture of a robot arm.

[0012] Figure 5 is a flowchart showing a teaching method.

[0013] Figure 6 is a table showing a notification to a user.

[0014] Figure 7 is a chart showing a notification to a user.

[0015] Figure 8 is a chart showing a notification to a user.

[0016] Explanation of Reference Numerals

[0017] 1... robot system, 2... robot, 21... base, 22... robot arm, 221... arm, 222... arm, 223... arm, 224... arm, 225... arm, 226... arm, 23... end effector, 231... polishing member, 3... robot control device, 4... teaching support device, 41... input reception unit, 42... arithmetic unit, 51... monitor, 52... input device, E... encoder, F1... table, F2... chart, J1... joint, J2... joint, J3... joint, J4... joint, J5... joint, J6... joint, M... motor, P... parameter, P0... motion start point, P0'... motion end point, P1... teaching point, P2... teaching point, P3... teaching point, P4... teaching point, P5... teaching point, PP... teaching support program, Q... object, S1... teaching support work, S11... information acquisition step, S12... candidate calculation step, S13... rotation state calculation step, S14... notification step. DETAILED DESCRIPTION

[0018] Hereinafter, a teaching support method, a teaching support device, and a teaching support program of the present application will be described in detail based on a preferred embodiment shown in the accompanying drawings.

[0019] Figure 1 is a perspective view showing the overall configuration of a robot system to which the preferred embodiment is applied. Figure 2 is a block diagram showing a teaching support device. Figure 3 is a diagram showing an example of a motion. Figure 4 is a table showing parameters regarding a posture of a robot arm. Figure 5 is a flowchart showing a teaching method. Figure 6 is a table showing a notification to a user. Figure 7 and Figure 8respectively, are charts for notifying a user.

[0020] Based on the description of the teaching support device 4, the robot system 1 supported by the teaching support device 4 will be briefly described. As shown in the figure, Figure 1 the robot system 1 has a robot 2 and a robot control device 3 that controls the drive of the robot 2.

[0021] The robot 2 is a 6-axis robot having six drive axes. The robot 2 has a base 21 and a robot arm 22 rotatably coupled to the base 21, and a terminal effector 23 is installed at the front end of the robot arm 22.

[0022] The robot arm 22 is a robot arm (robotic arm) having a plurality of arms 221, 222, 223, 224, 225, 226 rotatably coupled, and has six joints J1 to J6. Among them, the joints J2, J3, J5 are bending joints, and the joints J1, J4, J6 are twisting joints. In addition, a motor M as a drive source and an encoder E that detects the amount of rotation of the motor M are provided at each of the joints J1, J2, J3, J4, J5, J6.

[0023] In addition, the terminal effector 23 is connected to the arm 226. The terminal effector 23 is detachably mountable to the arm 226 by selecting a component suitable for the work to be performed by the robot 2. The terminal effector 23 of the present embodiment has a polishing component 231 that is rotationally driven, and the robot 2 performs a polishing work that smoothens the surface of an object Q.

[0024] The above describes the robot 2, but the configuration of the robot 2 is not particularly limited. For example, the robot 2 can also be a SCARA robot (horizontal multi-joint robot), a dual-arm robot, or the like. In addition, the robot 2 can be fixed to the floor or the like so as to be immovable, or can be fixed to a mobile device such as an automated guided vehicle (AGV) so as to be movable.

[0025] The robot control device 3 controls the drive of the robot system 1 based on an instruction from a host computer not shown. The robot control device 3 is constituted by, for example, a computer, and has a processor that processes information, a memory that can be communicatively connected to the processor, and an external interface that performs connection with an external device. Various programs executable by the processor are stored in the memory, and the processor can read the various programs and the like stored in the memory and execute them.

[0026] The above briefly describes the robot system 1. Next, the teaching support device 4 that supports the teaching work for causing the robot 2 to perform a desired action will be described.

[0027] The teaching support device 4 is, for example, a computer, having a processor for processing information, a memory communicatively connected to the processor, and an external interface for connecting to external devices. The memory stores a teaching support program PP that can be executed by the processor, which can read and execute the teaching support program PP. The teaching support program PP is software that supports teaching the robot 2, and the hardware with this software installed is the teaching support device 4.

[0028] like Figure 2 As shown, the teaching support device 4 includes: an input receiving unit 41 that receives input from the user; and a calculation unit 42 that optimizes the posture of the robotic arm 22 and the position of the end effector 23 based on the information received by the input receiving unit 41. Additionally, the teaching support device 4 is connected to a monitor 51 as a display device and input devices 52 such as a keyboard and mouse.

[0029] For ease of explanation, the following is as follows: Figure 3 As shown, the action D taught by the user to the robot 2 is a task in which the grinding component 231 grinds the side of the object Q while moving around the object Q once. In action D, the start point and the end point of the action are both P0, and multiple teaching points P1, P2, P3, P4, and P5 are set in between. The grinding component 231 moves the robotic arm 22 by sequentially passing through the start point P0, teaching point P1, teaching point P2, teaching point P3, teaching point P4, teaching point P5, and the end point P0. Furthermore, in order to distinguish between the start point and the end point of the action, the start point is set as P0, and the end point is set as P0'.

[0030] As in action D, in the action of moving the robotic arm 22 along a trajectory that traces a circle, the rotation amount (rotation angle) of joints J1 to J6 tends to increase, and the options for the posture of the robotic arm 22 that can complete action D tend to decrease. Therefore, teaching the robot 2 becomes difficult, and teaching support based on the teaching support device 4 becomes more effective. Action D is not particularly limited; for example, the start point and end point of the action can be different.

[0031] The posture of the robotic arm 22 during the movement from the start point P0 to the teaching point P1, from the teaching point P1 to the teaching point P2, from the teaching point P2 to the teaching point P3, from the teaching point P3 to the teaching point P4, from the teaching point P4 to the teaching point P5, and from the teaching point P5 to the end point P0' is optimized using the LJM function.

[0032] The LJM function is a function that determines the posture of the robot arm 22 in such a manner that the total rotation amount of the joints J1 to J6 is minimized from the reference position (current position) to observe the specified position (destination position) in view of the parameters P. There is no particular limitation on the parameters P, but in the present embodiment, as shown in FIG. 8, five parameters, specifically, "joint J1 flag," "elbow," "wrist," "joint J4 flag," and "joint J6 flag," are set. Figure 4

[0033] The "joint J1 flag" is selected from 0, in which the rotation angle of the joint J1 of the arm 221 from the reference position is 0° to -180° or 0° to +180°, and 1, in which the rotation angle of the joint J1 of the arm 221 from the reference position is -180° to -240° or +180° to +240°. In addition, the "elbow" is selected from A, in which the joint J3 is directed to the front side (one side), and B, in which the joint J3 is directed to the rear side (the other side). In addition, the "wrist" is selected from NF (No Flip), in which the predetermined face of the arm 224 is directed to the upper side, and F (Flip), in which the arm 224 is flipped (inverted) so that the predetermined face is directed to the lower side. In addition, the "joint J4 flag" is selected from 0, in which the rotation angle of the joint J4 of the arm 224 from the reference position is greater than -180° and is equal to or less than +180°, and 1, in which the rotation angle of the joint J4 of the arm 224 from the reference position is equal to or less than -180° or greater than +180°. The "joint J6 flag" is also similarly selected from 0, in which the rotation angle of the joint J6 of the arm 226 from the reference position is greater than -180° and is equal to or less than +180°, and 1, in which the rotation angle of the joint J6 of the arm 226 from the reference position is greater than -360° and is equal to or less than -180° or greater than +180°.

[0034] The teaching support device 4 determines the parameters P in such a manner that the total rotation amount of the joints J1 to J6 is minimized when the end effector 23 is moved from the motion start point P0 to the teaching point P1, for example, in the manner of joint J1 flag = 0, elbow = A, wrist = NF, joint J4 flag = 0, and joint J6 flag = 1, when the teaching point P1 is specified at the specified position and the motion start point P0 is specified at the reference position, using the LJM function as with LJM (P0, P1). The parameters P are also similarly determined with respect to LJM (P1, P2), LJM (P2, P3), LJM (P3, P4), LJM (P4, P5), LJM (P5, P6), LJM (P6, P7), and LJM (P7, P0').

[0035] ​Therefore, the posture of robotic arm 22 at the start point P0 optimizes the posture of robotic arm 22 moving towards the teaching point P1, the posture of robotic arm 22 at the teaching point P1 optimizes the posture of robotic arm 22 moving towards the teaching point P2, the posture of robotic arm 22 at the teaching point P2 optimizes the posture of robotic arm 22 moving towards the teaching point P3, the posture of robotic arm 22 at the teaching point P3 optimizes the posture of robotic arm 22 moving towards the teaching point P4, the posture of robotic arm 22 at the teaching point P4 optimizes the posture of robotic arm 22 moving towards the teaching point P5, and the posture of robotic arm 22 at the teaching point P5 optimizes the posture of robotic arm 22 moving towards the end point P0'. Thus, the movement of robotic arm 22 in action D is smoother, improving the accuracy of action D and shortening the time spent on action D.

[0036] According to this method, the posture of the robotic arm 22 at the action start point P0 is optimized sequentially at the teaching points P1, P2, P3, P4, P5, and the action end point P0'. Therefore, action D can be performed smoothly. However, if the posture of the robotic arm 22 at the action start point P0 is set to an inappropriate posture, then the posture of the robotic arm 22 is optimized based on this inappropriate posture. For example, there is a possibility of reduced work efficiency due to longer work time, or contact interference with the robot 2 itself caused by inappropriate actions that cannot maintain the contact state between the object Q and the grinding part 231. Therefore, when using the LJM function to optimize the posture of the robotic arm 22, it is important to set the posture of the robotic arm 22 at the action start point P0 to an appropriate posture.

[0037] Therefore, the teaching support device 4 performs the following teaching support operation S1, which enables the user to set the posture of the robotic arm 22 at the start point P0 of the action to an appropriate posture.

[0038] like Figure 5 As shown, the teaching support operation S1 includes: an information acquisition step S11, which acquires the action D of the robotic arm 22 and the action start point P0 of the action D; a candidate calculation step S12, which calculates the candidate postures of the robotic arm 22 from the acquired action start points P0; a rotation state calculation step S13, which calculates the rotation state of each joint J1 to J6 when the robotic arm 22 moves from the action start point P0 according to the action D, based on the calculated candidate postures; and a notification step S14, which notifies the user of the calculation results.

[0039] Information Acquisition Step S11

[0040] The teaching support device 4 receives information from the user via the input device 52 regarding the action D of the robotic arm 22 and the start point P0 of the action D.

[0041] candidate computing step S12

[0042] The teaching support device 4 computes candidates of the posture of the robot arm 22 in the plurality of motion start points P0 based on the motion start point P0 acquired in the information acquiring step Sll. In the present embodiment, as for the posture of the robot arm 22 in the motion start point P0, four parameters P of the joint Jl marker, the wrist, the joint J4 marker, and the joint J6 marker are used for determination, and therefore, candidates of 2 4 = 16 or the like are computed. However, the number of parameters P and the number of candidates are not particularly limited.

[0043] rotation state computing step S13

[0044] The teaching support device 4 computes, for each of the plurality of candidates computed, the rotation state of each joint Jl to J6 when the robot arm 22 is moved from the motion start point P0 according to the motion D, specifically, the temporal change of the rotation amount (rotation angle) of each joint Jl to J6.

[0045] notification step S14

[0046] The teaching support device 4 notifies the user of the result of the computation in the rotation state computing step S13 by displaying the result on the screen of the monitor 51. In the present embodiment, the result is displayed as a list F1 shown in FIG. 6 on the screen of the monitor 51. The list F1 shows all the candidates of 16 or the like as described above, and in association with each candidate, each parameter P and "Result" are associated. Thereby, the user can be notified more easily and clearly. Figure 6

[0047] Here, the candidate for which the "Result" is "X" means that the rotation amount of any joint Jl to J6 exceeds the movable region in the motion D, and the motion D cannot be executed. On the other hand, the candidate for which the "Result" is "Show" means that the rotation amount of each joint Jl to J6 does not exceed the movable region in the motion D, and the motion D can be executed. Therefore, the user can easily confirm, by checking the list F1, whether the motion D can be executed if the robot arm 22 is in which posture (combination of parameters P), and after the confirmation, the user can easily perform the teaching of the robot 2. Thereby, the teaching support device 4 supports the user in the teaching of the robot by notifying the user of the list F1.

[0048] Further, when the user selects "Show", the teaching support device 4 displays the result of the computation of the rotation state of each joint Jl to J6 in the list F1 as shown in FIG. 7, and displays the result of the computation of the rotation state of each joint Jl to J6 in the list F1 as shown in FIG. 8. Figure 7 Figure 8 ​​As illustrated, a graph F2 indicating the temporal change in the rotation amount of each joint J1 to J6 in the selected candidate is displayed on the screen of the monitor 51. By this, the user can be more easily and clearly notified. For example Figure 7 is a graph indicating the temporal change in the rotation amount of each joint J1 to J6 in the candidate 0, Figure 8 is a graph indicating the temporal change in the rotation amount of each joint J1 to J6 in the candidate 1.

[0049] In the candidate 0 illustrated, Figure 7 in the motion D, the rotation of each joint J1 to J6 is continuous. Therefore, it means that by setting the posture of the robot arm 22 in the motion start point P0 as the parameter P of the candidate 0, the motion D can be more smoothly performed.

[0050] On the other hand, in the candidate 1 illustrated, Figure 8 in the motion D, the rotation of joints J2 to J6 is continuous, but the rotation of joint J1 is not continuous. Further, in the motion D, the case where the joint rotates 180 degrees or more from a certain point to the next point is referred to as "not continuous", and the case other than this is referred to as "continuous". Therefore, in the case where the posture of the robot arm 22 in the motion start point P0 is set to the posture of the candidate 1, it can be possible to execute the motion D, but it is necessary to temporarily stop the motion D halfway, set the robot arm 22 to a new posture by rotating the joint J1 180 degrees or more, and then restart the motion D. As a result, the time required for the motion D becomes long, and the work efficiency is poor. In addition, the motion D is temporarily stopped, and thus there is also a possibility that the work is not completed at the stop position.

[0051] Therefore, it is preferable that the user confirms the graph F2 of each candidate, selects one from the candidates in which the rotation of all joints J1 to J6 is continuous, and performs teaching to the robot 2 based on the selected candidate. By this, the robot 2 can be caused to more smoothly execute the motion D. By this, by notifying the user not only whether the execution of the motion D can be performed, but also whether the rotation of each joint J1 to J6 is continuous in the motion D, the robot teaching support to the user based on the teaching support device 4 can be more effectively performed. Therefore, the user can more easily perform teaching to the robot 2.

[0052] In particular, in the present embodiment, as illustrated in Figure 8 the joint J1 whose rotation is not continuous is emphasized in a more noticeable manner than the other joints J2 to J6 whose rotation is continuous. Therefore, the user can easily determine whether the joint whose rotation is not continuous is included in the selected candidate. Further, as a method of coordinated display, there is no particular limitation, but examples include making the line thick, changing the color of the line, and the like.

[0053] Thus, the following steps are performed: an information acquisition step S11 of acquiring a motion D of the robot arm 22 having at least one joint J1 to J6 and a motion start point P0 at which the motion D is started; a candidate calculation step S12 of calculating candidates of the posture of the robot arm 22 in the plurality of acquired motion start points P0; a rotation state calculation step S13 of calculating the rotation states of the joints J1 to J6 when the robot arm 22 is moved according to the motion D from the motion start point P0 for each of the plurality of calculated candidates; and a notification step S14 of notifying the calculated result. According to such a method, the posture of the robot arm 22 in the motion start point P0 can be optimized, and the result thereof can be notified to the user. Thus, the user can easily and reliably perform teaching of the motion D based on the notified result.

[0054] In addition, as described above, the robot arm 22 has a plurality of joints J1 to J6, and in the rotation state calculation step S13, the rotation states of the joints J1 to J6 can be calculated. Thus, the state of the robot arm 22 in the motion D can be calculated in detail.

[0055] In addition, as described above, the motion end point P0' at which the motion D is ended is the same as the motion start point P0. Thus, in the motion D in which the robot arm 22 is moved in a trajectory like a circle, the rotation amounts (rotation angles) of the joints J1 to J6 easily become large, and the options of the posture of the robot arm 22 that can complete the motion D easily become less. Thus, teaching of the robot 2 becomes difficult, and teaching support based on the teaching support method becomes more effective.

[0056] In addition, as described above, the teaching support device 4 acquires a motion D of the robot arm 22 having at least one joint J1 to J6 and a motion start point P0 at which the motion D is started, calculates candidates of the posture of the robot arm 22 in the plurality of acquired motion start points P0, calculates the rotation states of the joints J1 to J6 when the robot arm 22 is moved according to the motion D from the motion start point P0 for each of the plurality of calculated candidates, and notifies the calculated result. According to such a configuration, the posture of the robot arm 22 in the motion start point P0 can be optimized, and the result thereof can be notified to the user. Thus, the user can easily and reliably perform teaching of the motion D based on the notified result.

[0057] In addition, as described above, the teaching support program acquires the motion D of the robot arm 22 having at least one joint J1 to J6 and the motion start point P0 at which the motion D is started, calculates candidates of the posture of the robot arm 22 in the plurality of acquired motion start points P0, and calculates the rotation state of the joints J1 to J6 when the robot arm 22 is moved according to the motion D from the motion start point P0 for each of the plurality of calculated candidates, and notifies the result of the calculation. According to such a configuration, it is possible to optimize the posture of the robot arm 22 in the motion start point P0, and it is possible to notify the result to the user. Therefore, the user can easily and reliably perform teaching of the motion D based on the notified result.

[0058] In addition, as described above, the posture of the robot arm 22 when moving from the predetermined teaching point included in the track of the motion D to the next teaching point is set in such a manner that the rotation amount of the joints J1 to J6 is minimized. Thereby, the movement of the robot arm 22 in the motion D becomes smoother, it is possible to improve the accuracy of the motion D, and it is possible to shorten the time required for the motion D.

[0059] In addition, as described above, the table F1 indicating whether the motion D can be performed for each candidate is displayed when the notification is performed. Thereby, it is possible to more easily and clearly notify the user.

[0060] In addition, as described above, the graph F2 indicating the temporal change in the rotation amount of the joints J1 to J6 is displayed when the notification is performed. Thereby, it is possible to more easily and clearly notify the user.

[0061] The teaching support method, the teaching support device, and the teaching support program of the present application have been described above based on the illustrated embodiments, but the present application is not limited thereto, and the configuration of each part can be replaced with any configuration having the same function. In addition, any other configuration can be added to the present application. In addition, each embodiment can be appropriately combined.

[0062] In addition, in the above-described embodiments, the teaching support operation S1 includes the information acquisition step S11, the candidate calculation step S12, the rotation state calculation step S13, and the notification step S14, but is not limited thereto, and can include other steps.

[0063] As other steps, there are, for example, a workpiece posture change recommendation step in which a change in the posture (orientation) of the object Q with respect to the robot 2 is recommended to the user. It can also be that the workpiece posture change recommendation step is executed in a case where the calculation results obtained by the rotation state calculation step S13, i.e., the "results" associated with each candidate, are all "X". By executing such a workpiece posture change recommendation step, the user changes the posture of the object Q, and the teaching support operation S1 is performed again, whereby more appropriate calculation results can be obtained. Further, it can also be a configuration in which the workpiece posture change recommendation step is executed not only in a case where the "results" associated with each candidate are all "X", but also in a case where a predetermined number or more of the "results" of the detection results are "X".

[0064] Further, as other steps, there are, for example, a workpiece posture change recommendation step in which a change in the posture (orientation) of the object Q with respect to the robot 2 is recommended to the user. It can also be that the workpiece posture change recommendation step is executed in a case where the calculation results obtained by the rotation state calculation step S13, i.e., the "results" associated with each candidate, are all "X". By executing such a workpiece posture change recommendation step, the user changes the posture of the object Q, and the teaching support operation S1 is performed again, whereby more appropriate calculation results can be obtained. Further, it can also be a configuration in which the workpiece posture change recommendation step is executed not only in a case where the "results" associated with each candidate are all "X", but also in a case where a predetermined number or more of the "results" of the detection results are "X".

[0065] Further, as other steps, there are, for example, a workpiece posture change recommendation step in which a change in the posture (orientation) of the object Q with respect to the robot 2 is recommended to the user. It can also be that the workpiece posture change recommendation step is executed in a case where the calculation results obtained by the rotation state calculation step S13, i.e., the "results" associated with each candidate, are all "X". By executing such a workpiece posture change recommendation step, the user changes the posture of the object Q, and the teaching support operation S1 is performed again, whereby more appropriate calculation results can be obtained. Further, it can also be a configuration in which the workpiece posture change recommendation step is executed not only in a case where the "results" associated with each candidate are all "X", but also in a case where a predetermined number or more of the "results" of the detection results are "X".

Claims

1. A teaching support method characterized by comprising: The following steps are performed: an action of a robot arm having at least one joint and an action start point at which the action is started is acquired; a plurality of candidates of a posture of the robot arm at the acquired action start point are calculated; a rotation state of the joint when the robot arm is moved from the action start point according to the action is calculated for each of the calculated plurality of candidates; and the calculated result is notified, the joint is plural, in the step of calculating the rotation state of the joint, the rotation state of each joint is calculated, an LJM function is used to set a posture of the robot arm when moving from a predetermined teaching point to a next teaching point included in a track of the action in such a manner that a rotation amount of the joint is minimized, in the step of notifying the result, the user is not only notified of whether or not the execution of the action can be performed, but also notified of whether or not the rotation of each joint is continuous in the action, and for the joint whose rotation is not continuous, displayed in a more noticeable manner than other joints whose rotation is continuous.

2. The teaching support method according to claim 1, wherein an action end point at which the action is ended is the same as the action start point.

3. A teaching support device, characterized by an action of a robot arm having at least one joint and an action start point at which the action is started is acquired, a plurality of candidates of a posture of the robot arm at the acquired action start point are calculated, a rotation state of the joint when the robot arm is moved from the action start point according to the action is calculated for each of the calculated plurality of candidates, the calculated result is notified, the joint is plural, the rotation state of each joint is calculated, an LJM function is used to set a posture of the robot arm when moving from a predetermined teaching point to a next teaching point included in a track of the action in such a manner that a rotation amount of the joint is minimized, the user is not only notified of whether or not the execution of the action can be performed, but also notified of whether or not the rotation of each joint is continuous in the action, and for the joint whose rotation is not continuous, displayed in a more noticeable manner than other joints whose rotation is continuous.

4. A program product including a teaching support program, characterized by an action of a robot arm having at least one joint and an action start point at which the action is started is acquired, a plurality of candidates of a posture of the robot arm at the acquired action start point are calculated, a rotation state of the joint when the robot arm is moved from the action start point according to the action is calculated for each of the calculated plurality of candidates, the calculated result is notified, the joint is plural, in the step of calculating the rotation state of the joint, the rotation state of each joint is calculated, an LJM function is used to set a posture of the robot arm when moving from a predetermined teaching point to a next teaching point included in a track of the action in such a manner that a rotation amount of the joint is minimized, in the step of notifying the result, the user is not only notified of whether or not the execution of the action can be performed, but also notified of whether or not the rotation of each joint is continuous in the action, and for the joint whose rotation is not continuous, displayed in a more noticeable manner than other joints whose rotation is continuous.

5. The program product according to claim 4, wherein, when the notification is made, a table indicating whether the action can be performed for each of the candidates is displayed.

6. The program product according to claim 4, wherein, when the notification is made, a graph indicating a temporal change in the amount of rotation of the joint is displayed.

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