| 摘要 |
PROBLEM TO BE SOLVED: To extract characteristic points to be taught to an external output device while suppressing them to the necessary minimum.SOLUTION: This characteristic point extraction device 3 includes: an operation point take-in means 5 sequentially taking in position information of an operation point accompanying processing operation of the external output device 4 every predetermined take-in time interval; an approximate straight line arithmetic means 6 calculating an operation track based on the operation point taken-in in the operation point take-in means 5 as an approximate straight line L (LAB, LBC) every division time interval dt longer than the take-in time interval; an approximation accuracy setting means 7 setting approximation accuracy to the taken-in operation point of the approximate straight line L calculated in the approximate straight line arithmetic means 6 within a predetermined allowable range; and a characteristic point extraction means 8 extracting a change point for specifying the approximate straight line L as the characteristic point to be taught to the external output device 4 when the approximation accuracy of the approximate straight line L calculated in the approximate straight line arithmetic means 6 is within the allowable range. An operation teaching device using the characteristic point extraction device 3 and an operation processor are each a target, too. |
