OFFLINE PROGRAMMING DEVICE, ROBOT CONTROL AND AUGMENTED REALITY SYSTEM

Abstract

Offline programming device (10) that generates a motion program of a robot (1) offline, wherein the offline programming device (10) comprises the following: a model generation unit (12) that generates a three-dimensional model of the robot (A1) and a three-dimensional model of a load (A2) connected to a front end of a robot arm (1a) of the robot (1); a storage unit (11) that stores a dynamic parameter of the load (2); a graphics generation unit (13) that generates a three-dimensional graphic (B) representing the dynamic parameter based on the dynamic parameter stored in the memory unit (11); and a display unit (15) that displays the three-dimensional models of the robot and the load (A1, A2) and the three-dimensional graphic (B), wherein the dynamic parameter inertia around three axes that are orthogonal to each other at a center of gravity of the load (2), the three-dimensional graphic (B) is a volume model defined by dimensions orthogonal to each other in three directions, and the graphics generation unit (12) establishes a ratio of the dimensions in the three directions of the three-dimensional graphic (B) to a ratio corresponding to a ratio of the inertia around the three axes.

Description

[0001] The present invention relates to an offline programming device, a robot controller, and an augmented reality system.

[0002] In recent years, the importance of appropriate control techniques such as feedforward control has increased in industrial robot control to meet the demand for high-speed robot motion and high locus accuracy (see, for example, JP 2017 - 056 525 A). To effectively control the robot, it is important to set appropriate values ​​for the dynamic parameters of both the robot and a load connected to the robot. The load is, for example, an end effector such as a tool or a hand. The dynamic parameters include, for example, mass, center of gravity positions, and inertia around the center of gravity of the robot and the load.

[0003] On the other hand, a robot simulation device that displays a center of gravity position or a motion state of a robot on a display is well known (see, for example, JP 2018 - 008 326 A and JP 2003 - 300 185 A).

[0004] The document DE 10 2016 123 945 A1 further discloses a robot system with a controller that controls a robot and with a video display device connected to the controller. The video display device is equipped with a display part that shows a video image of a real space including a robot, captured by a camera, in real time, and an image processing part for augmented reality that displays a virtual video image of an end effector or a robot peripheral device of the robot superimposed on the real video image of the robot captured by the camera. With such a robot system, the robot instruction can be carried out even without an end effector or robot peripheral device, under the impression that they are present.

[0005] The document DE 11 2015 002 687 T5 discloses a setting data generation device for a work robot, comprising a storage unit that stores three-dimensional models of a plurality of work robots, a display unit that displays a virtual space representing an actual work area in which a work robot is installed, and at least one three-dimensional model selected from the three-dimensional models of the plurality of work robots stored in the storage unit so that the three-dimensional model is configured in the virtual space, a drive control unit that operates the three-dimensional model displayed on the display unit according to an instruction for operating the three-dimensional model, and a setting data generation unit that generates setting data for the work robot using movement data of the three-dimensional model.which is operated by the drive control unit.,

[0006] EP 1 703 349 A2 discloses an offline teaching device for adjusting an image sensor and performing setup work that is usually performed on-site offline, thereby reducing on-site operation time. The offline teaching device includes a memory for storing data, including the shapes and dimensions of a workpiece, a robot, and an image sensor, and a display for displaying images of the workpiece, the robot, and the image sensor. The teaching device also includes a simulation program for generating images of the workpiece, the robot, and the vision sensor on the display and calculating measurement data of the vision sensor based on the arrangement of the images on the display, as well as a sensor program for performing measurements on the display by the vision sensor based on the measurement data.

[0007] US 2018 / 0 293 768 A1 discloses a system for detecting and displaying an external force applied to a robot. The magnitude and direction of the detected external force are displayed in an image for visual and intuitive understanding. A robot system includes a robot; a detection section for detecting an external force applied to the robot; a conversion section for converting the magnitude and direction of the external force detected by the detection section into a coordinate value of a three-dimensional rectangular coordinate system; an image generation section for generating a force model image graphically representing the magnitude and direction of the external force using the coordinate value obtained by the conversion section; and a display section for three-dimensionally displaying the force model image generated by the image generation section.

[0008] US 2014 / 0 236 565 A1 discloses a robot simulator comprising a generation unit, a display unit, a display control unit, and a simulation instruction unit. The generation unit generates a virtual image comprising a virtual robot obtained by mapping an actual robot having at least one axis and an operating handle capable of operating three-dimensional coordinate axes whose origin is a predetermined control point of the virtual robot. The display control unit displays the generated virtual image on the display unit.When an operation of the operation handle by an operator is received, the simulation instruction unit detects at least a displacement amount of the control point and a rotation amount of the three-dimensional coordinate axes attributable to the operator's operation, and instructs the generation unit to regenerate the virtual image by changing a posture of the virtual robot according to the displacement amount or rotation amount thus detected.

[0009] Document JP H05 - 81 384 A discloses a display device for multi-dimensional force information comprising a force input means for inputting a force measurement value applied to a force sensor, a solid-state generating means for inputting the force information output by the force input means and for generating a stereoscopic model, a solid-state model display image generating means which inputs the stereoscopic model and can display it as a graphic output of a computer, and a two-dimensional graphic display device for displaying the generated graphic as a two-dimensional graphic.

[0010] An accurate value of the robot's dynamic parameter can be obtained from design information about the robot. In contrast, a load is prepared by each user, and therefore, the user must elaborate and set the value of the load's dynamic parameter. However, when the user sees the numerical value of the dynamic parameter, it is difficult for the user to intuitively judge whether the numerical value is appropriate. Therefore, the object of the invention is to simplify the detection of the load moved by the robot. This object is achieved by an offline programming device according to claim 1, a robot controller according to claim 5, and an augmented reality system according to claim 9. Advantageous embodiments of the invention are subject to the dependent claims.

[0011] According to one aspect of the present disclosure, an offline programming device that offline generates a motion program of a robot includes: a model generation unit that generates a three-dimensional model of the robot and a three-dimensional model of a load connected to a front end of a robot arm of the robot; a storage unit that stores a dynamic parameter of the load; a graph generation unit that generates a three-dimensional graph representing the dynamic parameter based on the dynamic parameter stored in the storage unit; and a display unit that displays the three-dimensional models of the robot and the load and the three-dimensional graph. The dynamic parameter includes inertia around three axes that are orthogonal to each other at a center of gravity of the load.The three-dimensional graphic is a solid model defined by dimensions in three directions orthogonal to each other. The graphic generation unit defines a ratio of the dimensions in the three directions of the three-dimensional graphic to a ratio corresponding to the ratio of the inertia around the three axes. Fig. Figure 1 is a diagram illustrating example three-dimensional models of a robot and a load. Fig. 2 is a diagram illustrating an example in which a three-dimensional graphic representing the dynamic parameter of the load is compared with the three-dimensional models in Fig. 1 is synthesized. Fig. 3 is a block diagram of an offline programming device according to an embodiment. Fig. 4 is a diagram for explaining three-dimensional graphics. Fig. 5 is an overall configuration diagram of a robot system according to another embodiment. Fig. 6 is an overall configuration diagram of an augmented reality system according to yet another embodiment.

[0012] An offline programming apparatus 10 according to an embodiment of the present disclosure will be described below with reference to the drawings.

[0013] As in Fig. 1, the offline programming device 10 displays a virtual space S in which a three-dimensional model A1 of a robot 1 and a three-dimensional model A2 of a load 2 are arranged, and generates a motion program of the robot 1 offline based on a motion path specified in the virtual space S by a user. As shown in Fig. 2, the offline programming device 10 further displays a three-dimensional graphic B representing a dynamic parameter of the load 2, together with the three-dimensional models A1 and A2.

[0014] Robot 1 is an industrial robot that includes a robot arm 1a. In Fig. 1 and Fig. Figure 2 illustrates a six-axis vertical articulated robot as an example of robot 1. Robot 1 may be other types of industrial robots, such as horizontal articulated robots and parallel robots. Load 2 is an object connected to a wrist flange 1b at a front end of robot arm 1a and is an end effector such as a tool and a hand.

[0015] As in Fig. 3, the offline programming device 10 includes a storage unit 11, a model generation unit 12, a graphics generation unit 13, a synthesis unit 14, a display unit 15, a path setting unit 16, and a program generation unit 17.

[0016] The offline programming device 10 is implemented by a computer such as a personal computer. The computer includes a processor such as a central processing unit, a main storage device including a RAM, a ROM, and the like, an auxiliary storage device including an HDD and the like, a display, and an input device such as a mouse, a keyboard, and a touch panel. The auxiliary storage device stores a motion program generation program. The functions of the respective units 12, 13, 14, 16, and 17 described below are implemented when the processor performs processing according to the motion program generation program.

[0017] The storage unit 11 includes, for example, an auxiliary storage device. The storage unit 11 stores three-dimensional shape data of the robot 1, three-dimensional shape data of the load 2, and virtual space data. The storage unit 11 may include multiple pieces of three-dimensional shape data of the load 2. All of the three-dimensional shape data and the virtual space data are, for example, three-dimensional CAD data.

[0018] The storage unit 11 further stores a value of the dynamic parameter of the load 2. The dynamic parameter includes mass M, a center of gravity position, and three inertias Ix, Iy, and Iz around the center of gravity of the load 2. The inertias Ix, Iy, and Iz are inertias around an Xi axis, a Yi axis, and a Zi axis, respectively, which are orthogonal to each other at the center of gravity of the load 2. The Xi axis, the Yi axis, and the Zi axis are axes in a load coordinate system fixed to the load 2. The value of the dynamic parameter is input and set by the user via, for example, the input device in the offline programming device.

[0019] The model generation unit 12 reads the three-dimensional shape data of the robot 1 from the storage unit 11 and generates the three-dimensional model A1 of the robot 1 from the three-dimensional shape data. Furthermore, the model generation unit 12 reads an element of the three-dimensional shape data of the load 2 from the storage unit 11 and generates the three-dimensional model A2 of the load 2 from the three-dimensional shape data. The model generation unit 12 then connects the three-dimensional model A2 of the load 2 to the wrist flange 1b of the three-dimensional model A1 of the robot 1.

[0020] As in Fig. 4, the three-dimensional graphic B is an ellipsoid. The ellipsoid is defined by diameters 2 × a, 2 × b, and 2 × c in three directions orthogonal to each other. The graphic generation unit 13 sets a target size of the ellipsoid based on the mass M and adjusts a ratio of the diameters 2 × a, 2 × b, and 2 × c to a ratio corresponding to a ratio of the inertias Ix, Iy, and Iz. For example, the graphic generation unit 13 generates a sphere with a diameter corresponding to the mass M and then reduces or enlarges each of the diameters in the three directions of the sphere based on the ratio of the inertias Ix, Iy, and Iz, thereby generating the ellipsoid. A specific example of the method for generating the three-dimensional graphic B is described below.

[0021] The synthesis unit 14 synthesizes the three-dimensional graphic B with the three-dimensional model A1 of the robot 1 and the three-dimensional model A2 of the load 2 such that a center position of the three-dimensional graphic B coincides with the center of gravity position of the load 2. Furthermore, the synthesis unit 14 reads the virtual space data from the storage unit 11 and generates the three-dimensional virtual space S from the virtual space data. The virtual space S is a space that includes a movement range of the robot 1. Next, the synthesis unit 14 arranges the three-dimensional models A1 and A2 synthesized with the three-dimensional graphic B in the virtual space S and displays the virtual space S together with the three-dimensional models A1 and A2 and the three-dimensional graphic B on the display unit 15. The display unit 15 is, for example, a computer display.

[0022] The synthesis unit 14 can synthesize the three-dimensional graphic B with the three-dimensional models such that the directions of the three axes Xg, Yg, and Zg of the three-dimensional graphic B coincide with the directions of the three axes of the wrist coordinate system; however, the axes Xg, Yg, and Zg of the three-dimensional graphic B may not coincide with the three axes of the wrist coordinate system. The wrist coordinate system is a three-dimensional orthogonal coordinate system fixed to the wrist flange 1b. For example, the synthesis unit 14 can adjust a posture in the coordinate system of the three-dimensional graphic B to the wrist coordinate system so that the products of the inertias in the coordinate system of the three-dimensional graphic B become zero.

[0023] The path setting unit 16 sets the movement path of the robot 1 based on one or more points or one or more lines designated by the user in the virtual space S. For example, the user designates one or more learning points and their order in the virtual space S, displayed on the display unit 15, using the input device. The path setting unit 16 sets a path passing through the one or more learning points in the designated order as the movement path.

[0024] The program generation unit 17 generates a motion program for controlling the robot 1 based on the specified motion path. For example, the program generation unit 17 generates the motion program such that the load 2 moves along the motion path. The generated motion program is stored in the storage unit 11.

[0025] Next, an operation of the offline programming device 10 will be described. First, the value of the dynamic parameter of the load 2 is set by the user in the offline programming device 10 and stored in the storage unit 11. Next, the three-dimensional model A1 of the robot 1, to which the three-dimensional model A2 of the load 2 is connected, is generated by the model generation unit 12, and the three-dimensional graphic B representing the value of the dynamic parameter of the load 2 is generated by the graphic generation unit 13.

[0026] Next, the three-dimensional graphic B is synthesized with the three-dimensional models A1 and A2 by the synthesis unit 14 so that the center position of the three-dimensional graphic B coincides with the center of gravity position of the three-dimensional model A2 of the load 2, and the three-dimensional graphic B and the three-dimensional models A1 and A2 are arranged in the three-dimensional virtual space S. Thereafter, the virtual space S containing the three-dimensional models A1 and A2 and the three-dimensional graphic B is displayed on the display unit 15.

[0027] The user designates the points or lines representing the movement path in the virtual space S, displayed on the display unit 15, using the input device. The movement path is set by the path setting unit 16 based on the points or lines designated by the user.

[0028] Next, the motion program is generated based on the specified motion path by the program generation unit 17.

[0029] As described above, according to the present embodiment, the three-dimensional graph B visualizing the value of the dynamic parameter of the load 2 set by the user is displayed on the display unit 15. This allows the user to visually confirm whether the set value of the dynamic parameter is appropriate based on the three-dimensional graph B.

[0030] Specifically, a size of the entire three-dimensional graphic B approximately represents the mass of the load 2. The center position of the three-dimensional graphic B represents the center of gravity position of the load 2. The ratio of the diameters 2 × a, 2 × b, and 2 × c of the three-dimensional graphic B in the three directions represents relative sizes of the inertias Ix, Iy, and Iz. Accordingly, by comparing the three-dimensional graphic B and the three-dimensional model A2 of the load 2 displayed on the display unit 15, the user can intuitively judge whether the set values ​​of the mass M and the center of gravity position of the load 2 are appropriate. Furthermore, the user can intuitively judge whether the set values ​​of the inertias Ix, Iy, and Iz are appropriate from the dimensions of the three-dimensional graphic B in the three directions displayed on the display unit 15.

[0031] Next, an example of the method for generating the three-dimensional graphic B by the graphic generating unit 13 will be described.

[0032] As in Fig. As illustrated in Figure 4, the three-dimensional graph B is an ellipsoid. First, the radius r of the sphere is determined from the following expression. A diameter 2 × r of the sphere corresponds to a nominal dimension of the ellipsoid. The diameter of both the sphere and the ellipsoid increases when the mass M of load 2 is increased. r=(3M / 4πρ)1 / 3

[0033] In the expression, ρ is the density of load 2. The density ρ is set by the user and stored in the storage unit 11. For example, if an iron tool is frequently used as load 2, the density ρ is 7.8 × 10 3 [kg / m 3 ], which is the density of iron.

[0034] Next, the radii a, b and c of the ellipsoid are calculated based on the values ​​of inertia Ix, Iy and Iz around the Xi-axis, the Yi-axis and the Zi-axis of load 2.

[0035] To calculate the radii a, b and c, values ​​na2, nb2 and nc2, which are each proportional to the squares of the radii a, b and c, are first calculated. na2=Iy+Iz−Ixnb2=Iz+Ix−Iync2=Ix+Iy−Iz

[0036] If any of the values ​​na2, nb2, and nc2 are less than zero, the value less than zero is corrected to zero. For example, if the value na2 is less than zero, the value na2 is corrected to zero.

[0037] It should be noted that the following formulas for determining the inertias Ix, Iy and Iz of the ellipsoid with diameters 2 × a, 2 × b and 2 × c and mass M are well known. Ix=(b2+c2)M / 5Ix=(c2+a2)M / 5Iz=(a2+b2)M / 5

[0038] The relational expressions of the values ​​na2, nb2 and nc2 and the inertias Ix, Iy and Iz described above are derived by rearranging the formulas.

[0039] Next, values ​​na, nb, nc and nmax are determined from the values ​​na2, nb2 and nc2. na=(na2)1 / 2nb=(nb2)1 / 2nc=(nc)1 / 2nmax=max{na,nb,nc}

[0040] If the value of nmax is zero, all of the values ​​of nmax, na, nb, and nc are corrected to one. If any of the values ​​of na, nb, and nc are less than 0.1 × nmax, the value less than 0.1 × nmax can be corrected to 0.1 × nmax. For example, if the value of na is less than 0.1 × nmax, the value of na can be corrected to 0.1 × nmax.

[0041] Next, values ​​N, Na, Nb and Nc are determined from the values ​​na, nb and nc. N=(na⋅nb⋅nc)1 / 3Na=na / NNb=nb / N Nc=nc / N

[0042] Next, the radii a, b and c of the ellipsoid are determined from the values ​​Na, Nb, Nc and r. a=Na⋅rb=Nb⋅rc=Nc⋅r

[0043] Examples of the dynamic parameter of load 2 and the three-dimensional graphic B in Fig. 1 and Fig. 2 are described below. Mass M=207[Kg] Center of gravity position(X,Y,Z)=(0; 0; 0.211) [m] Inertia(Ix,Iy,Iz)=(35.6; 14.6; 22.5) [Kgm2]

[0044] It should be noted that in this example the products of the inertias in the wrist coordinate system are zero.

[0045] In the dynamic parameter described above, the density ρ of the load 2 is 7.8 × 10 3 [kg / m 3 ]; the density ρ of 5.0 × 10 3 [kg / m 3However, [ ] is used in the generation of the three-dimensional graphic B to display the three-dimensional graphic B at a slightly larger size for easier viewing. The calculation is performed based on the expressions described above to determine the following values. (a, b, c)=(0.0732, 0.411, 0.328) [m]

[0046] As described above, a value greater or smaller than the density ρ of load 2 can be used. For example, the value of the density ρ of load 2 used in generating the three-dimensional graphic B can be changed by the user.

[0047] The dimensions of the three-dimensional graphic B displayed on the display 15 are varied depending on the density ρ in addition to the mass M. For example, to display the three-dimensional graphic B on the display 15 in a large size, the user can set a value smaller than the actual density ρ of the load 2. For example, if the load 2 is made of iron, the density ρ can be set to 5.0×10 3 be set.

[0048] In the above-described embodiment, the three-dimensional graphic B representing the value of the dynamic parameter of the load 2 is displayed on the display unit 15 of the offline programming device 10; however, the display of the three-dimensional graphic B may be applied to the other optional system that displays the three-dimensional model of the robot 1 or the real robot 1.

[0049] Fig. 5 illustrates an example of a robot system 20 according to another embodiment of the present disclosure. The robot system 20 includes the robot 1 and a robot controller 21 that controls the robot 1. The robot controller 21 includes a control body 22 and a teach pendant 23 that is operated by the user to teach the robot 1 how to move. The control body 22 is connected to the robot 1 and the teach pendant 23.

[0050] The robot controller 21 includes the above-described storage unit 11, the model generation unit 12, the graphic generation unit 13, the synthesis unit 14, and the display unit 15. For example, the storage unit 11 includes a memory device integrated in the controller body 22, and the model generation unit 12, the graphic generation unit 13, and the synthesis unit 14 are implemented by a processor integrated in the controller body 22. The teaching pendant 23 includes the display unit 15, and the virtual space S in which the three-dimensional models A1 and A2 and the three-dimensional graphic B are arranged is displayed on the display unit 15. The three-dimensional graphic B can be synthesized with the three-dimensional models A1 and A2 so that the center position of the three-dimensional graphic B coincides with the center of gravity position of the three-dimensional model A2 of the load 2.

[0051] Fig.6 illustrates an example of an augmented reality (AR) system 30 according to yet another embodiment of the disclosure. The AR system 30 provides the user with augmented reality including the real robot 1. Specifically, the AR system 30 includes the robot 1, a head-mounted display (HMD) device 31 attached to a user's head, and a controller 32 connected to the robot 1 and the HMD device 31.

[0052] The HMD device 31 includes a display (display unit) 33 and a camera 34. The display 33 is arranged in front of the user's eyes and displays the augmented reality including the real robot 1 and the three-dimensional graphic B. The camera 34 captures an image of the robot 1. The camera 34 can be mounted at an optional position around the robot 1.

[0053] The controller 32 includes the above-described storage unit 11, the graphic generation unit 13, and the synthesis unit 14. For example, the storage unit 11 includes a storage device integrated with the controller 32, and the graphic generation unit 13 and the synthesis unit 14 are implemented by a processor integrated in the controller 32. In the present embodiment, the synthesis unit 14 synthesizes the three-dimensional graphic B with the image captured by the camera 34. Preferably, the synthesis unit 14 synthesizes the three-dimensional graphic B with the image such that the center position of the three-dimensional graphic B coincides with the center of gravity position of the load 2 in the image. The image of the real robot 1 synthesized with the three-dimensional graphic B is displayed as the augmented reality on the display 33.

[0054] The display 33 can be a transparent display that allows light to pass through it. The user can see the real robot 1 through the transparent display 33. In other words, in this case, the display 33 displays augmented reality including a see-through image of the real robot 1 and the three-dimensional graphic B.

[0055] Furthermore, the display 33 may be an optional type arranged at an optional position instead of the display of the HMD device 31. For example, instead of the HMD device 31, the AR system 30 may include a tablet computer that includes the display 33 and is worn by the user.

[0056] In each of the embodiments described above, the three-dimensional graphic B is the ellipsoid. Alternatively, the three-dimensional graphic B may be another solid model. In particular, the three-dimensional graphic B may be an optional solid model, as long as the solid model is uniquely defined by dimensions in three directions orthogonal to each other. For example, the three-dimensional graphic B may be a rectangular parallelepiped or an elliptical column.

[0057] In each of the embodiments described above, the graphic generation unit 13 sets the dimensions of the three-dimensional graphic B based on the mass M of the load 2. Alternatively, the graphic generation unit 13 may set the dimensions of the three-dimensional graphic B regardless of the mass M of the load 2. For example, the diameter 2 × r of a sphere, which is the target dimension of the three-dimensional graphic B, may be set to a dimension desired by the user.

[0058] In each of the embodiments described above, the synthesis unit 14 synthesizes the three-dimensional graphic B such that the center position of the three-dimensional graphic B coincides with the center of gravity position of the load 2. Alternatively, the synthesis unit 14 may synthesize the three-dimensional graphic B at an optional position in the virtual space S or in the augmented reality. List of reference symbols 1 robot 1a robot arm 1b Wrist flange 2 Load 10 Offline programming device 11 Storage unit 12 Model generation unit 13 Graphics generation unit 14 Synthesis unit 15 Display unit 16 Path setting unit 17 Program generation unit 20 robot system 21 Robot control 23 Teach Pendant 30 Augmented Reality Systems 33 Display (display unit) 34 Camera A1 Three-dimensional model of the robot A2 Three-dimensional model of the load B Three-dimensional graphics S Virtual Space

Claims

[1] An offline programming device (10) that generates a motion program of a robot (1) offline, the offline programming device (10) comprising: a model generation unit (12) that generates a three-dimensional model of the robot (A1) and a three-dimensional model of a load (A2) connected to a front end of a robot arm (1a) of the robot (1); a storage unit (11) that stores a dynamic parameter of the load (2); a graphic generation unit (13) that generates a three-dimensional graphic (B) representing the dynamic parameter based on the dynamic parameter stored in the storage unit (11); and a display unit (15) which displays the three-dimensional models of the robot and the load (A1, A2) and the three-dimensional graphic (B), wherein the dynamic parameter includes inertia around three axes that are orthogonal to each other at a center of gravity of the load (2), the three-dimensional graphic (B) is a volume model defined by dimensions in three directions orthogonal to each other, and the graphics generation unit (12) sets a ratio of the dimensions in the three directions of the three-dimensional graphics (B) to a ratio corresponding to a ratio of the inertia around the three axes. [2] Offline programming device (10) according to claim 1, further comprising a synthesis unit (14), wherein the dynamic parameter includes a center of gravity position of the load (2), and the synthesis unit (14) synthesizes the three-dimensional graphic (B) with the three-dimensional models of the robot and the load (A1, A2) such that a center position of the three-dimensional graphic (B) coincides with the center of gravity position of the three-dimensional model of the load (A2). [3] Offline programming device (10) according to claim 1 or 2, wherein the dynamic parameter includes a mass of the load (2), and the graphics generation unit (13) sets the dimensions in the three directions of the three-dimensional graphics (B) based on the mass of the load (2). [4] The offline programming device (10) according to any one of claims 1 to 3, wherein the three-dimensional graphic (B) is an ellipsoid, a rectangular parallelepiped, or an elliptical column. [5] Robot controller (21) controlling a robot (1), the robot controller (21) comprising: a teach pendant (23) operated by a user to teach the robot (1) a movement; a model generation unit (12) that generates a three-dimensional model of the robot (A1) and a three-dimensional model of a load (A2) connected to a front end of a robot arm (1a) of the robot (1); a storage unit (11) that stores a dynamic parameter of the load (2); a graphic generation unit (13) that generates a three-dimensional graphic (B) representing the dynamic parameter based on the dynamic parameter stored in the storage unit (11); and a display unit (15) provided on the teach pendant (23) and displaying the three-dimensional models of the robot and the load (A1, A2) and the three-dimensional graphic (B), wherein the dynamic parameter includes inertia around three axes that are orthogonal to each other at a center of gravity of the load (2), the three-dimensional graphic (B) is a volume model defined by dimensions in three directions orthogonal to each other, and the graphics generation unit (13) sets a ratio of the dimensions in the three directions of the three-dimensional graphics to a ratio corresponding to a ratio of the inertia around the three axes. [6] Robot controller (21) according to claim 5, further comprising a synthesis unit (14), wherein the dynamic parameter includes a center of gravity position of the load (2), and the synthesis unit (14) synthesizes the three-dimensional graphic (B) with the three-dimensional models of the robot and the load (A1, A2) such that a center position of the three-dimensional graphic (B) coincides with the center of gravity position of the three-dimensional model of the load (B). [7] Robot controller (21) according to claim 5 or 6, wherein the dynamic parameter includes a mass of the load (2), and the graphics generation unit (13) sets the dimensions in the three directions of the three-dimensional graphics (B) based on the mass of the load (2). [8] Robot controller (21) according to one of claims 5 to 7, wherein the three-dimensional graphic (B) is an ellipsoid, a rectangular parallelepiped or an elliptical column. [9] An augmented reality system (30) providing augmented reality including a real robot (1) to a user, the augmented reality system comprising: a storage unit (11) that stores a dynamic parameter of a load (2) connected to a front end of a robot arm (1a) of the real robot (1); a graphics generation unit (13) that generates a three-dimensional graphic representing the dynamic parameter based on the dynamic parameter stored in the storage unit (11); and a display unit (33) that displays augmented reality including the real robot (1) connected to the load (2) and the three-dimensional graphic (B), wherein the dynamic parameter includes inertia around three axes that are orthogonal to each other at a center of gravity of the load (2), the three-dimensional graphic (B) is a volume model defined by dimensions in three directions orthogonal to each other, and the graphics generation unit (13) sets a ratio of the dimensions in the three directions of the three-dimensional graphic (B) to a ratio corresponding to a ratio of the inertia around the three axes. [10] The augmented reality system (30) of claim 9, further comprising a synthesis unit (14), wherein the dynamic parameter includes a center of gravity position of the load (2), and the synthesis unit (14) synthesizes the three-dimensional graphic (B) with the real robot (1) and the load (2) in the augmented reality, so that a center position of the three-dimensional graphic (B) coincides with the center of gravity position of the load (2). [11] Augmented reality system (30) according to claim 9 or 10, wherein the dynamic parameter includes a mass of the load (2), and the graphics generation unit (13) sets the dimensions in the three directions of the three-dimensional graphics (B) based on the mass of the load (2). [12] Augmented reality system (30) according to one of claims 9 to 11, wherein the display unit (33) displays an image of the real robot (1) captured by a camera (34). [13] Augmented reality system (30) according to one of claims 9 to 11, wherein the display unit (33) is a transparent display (33) that allows light to pass through the transparent display (33), and the user sees the real robot (1) through the transparent display (33). [14] The augmented reality system (30) of any one of claims 9 to 13, wherein the three-dimensional graphic (B) is an ellipsoid, a rectangular parallelepiped, or an elliptical column.

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