{
  "abstract": "An operation is generated in which a robot can perform work without causing interference with a surrounding structure within a movable range of the robot. The robot teaching device relates to a work teaching device that teaches work to a robot that holds and moves a held object. The device includes a teaching pose measurement unit configured to measure and/or calculate a teaching pose that is a pose of the held object during teaching work, and a robot operation generation unit configured to generate a joint displacement sequence of the robot such that a pose of a held object of the same type as the held object whose teaching pose is measured becomes the same pose as the teaching pose.",
  "assignees": [
    "HITACHI HIGH TECH CORP"
  ],
  "authors": [
    "INOUE TOMOHIRO",
    "ISHIKAWA SHINICHI",
    "KOYAMA MASAHIRO",
    "OGAWARA SHOGO"
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  "title": "Robot teaching device and work teaching method",
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