Teaching device for simulation and teaching method for simulation

Abstract

The simulation teaching device (10) that displays the end effector (E) that can contact the object (T) at the tool center point (Pt) and the object in three dimensions on the screen of the display device (M) includes: a designated position acquisition unit (30) that acquires a designated position (Pd) on a display image (At) corresponding to the surface (Tf) of the object displayed on the screen; a determination unit (34) that determines the tool center point corresponding to the designated position on the back side (Tb) opposite to the surface of the object based on the designated position; and a display control unit (36) that displays the tool center point on the screen in a recognizable manner.

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