WO2023079652A1 - Dispositif de commande, procédé de commande et système en nuage - Google Patents

Dispositif de commande, procédé de commande et système en nuage Download PDF

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Publication number
WO2023079652A1
WO2023079652A1 PCT/JP2021/040661 JP2021040661W WO2023079652A1 WO 2023079652 A1 WO2023079652 A1 WO 2023079652A1 JP 2021040661 W JP2021040661 W JP 2021040661W WO 2023079652 A1 WO2023079652 A1 WO 2023079652A1
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Prior art keywords
network communication
communication data
control
unit
industrial machine
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PCT/JP2021/040661
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English (en)
Japanese (ja)
Inventor
八起 高嶋
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ファナック株式会社
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Priority to PCT/JP2021/040661 priority Critical patent/WO2023079652A1/fr
Publication of WO2023079652A1 publication Critical patent/WO2023079652A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/50—Monitoring users, programs or devices to maintain the integrity of platforms, e.g. of processors, firmware or operating systems
    • G06F21/55—Detecting local intrusion or implementing counter-measures

Definitions

  • the present invention relates to control devices, control methods, and cloud systems.
  • control device of the present disclosure is a control device having a digital twin function that controls an industrial machine in both a virtual environment and a real environment, receiving network communication data for the industrial machine from the outside, a network communication verification unit that verifies the safety of communication data; a control simulation unit that processes the received network communication data in the virtual environment; and the industrial machine in the real environment using the network communication data. and a real operation control unit that controls operation, wherein the network communication verification unit transmits the received network communication data to the control simulation unit, and the network communication data is processed based on the processing of the network communication data by the control simulation unit. The safety of the communication data is verified, and the network communication data verified as safe is output to the real motion control section.
  • One aspect of the control method of the present disclosure is a control method that enables a computer to implement a digital twin function that controls an industrial machine in both a virtual environment and a real environment, wherein network communication data for the industrial machine is received from the outside. and executing the processing of the received network communication data in the virtual environment, verifying the safety of the network communication data based on the processing of the network communication data, and using the network communication data verified to be safe.
  • the operation of the industrial machine is controlled in the real environment.
  • One aspect of the cloud system of the present disclosure includes a plurality of virtual execution environments that load and execute a virtual environment for controlling industrial machines on the cloud for each of a plurality of manufacturing bases.
  • a network communication verification unit that receives network communication data for the industrial machine and verifies the safety of the network communication data; and a control simulation unit that executes processing of the received network communication data in the virtual environment.
  • the network communication verification unit transmits the received network communication data to the control simulation unit, verifies the safety of the network communication data based on the processing of the network communication data by the control simulation unit,
  • the verified network communication data is output to the real control device located at the corresponding manufacturing base.
  • FIG. 1 is a functional block diagram showing a functional configuration example of an industrial machine control system according to one embodiment
  • FIG. 4 is a flowchart for explaining control processing of the numerical controller 10
  • FIG. 3 is a flowchart for explaining detailed processing contents of a safety verification process shown in step S3 of FIG. 2
  • FIG. 1 is a diagram showing a configuration example of an industrial machine control system
  • FIG. 1 is a diagram showing a configuration example of an industrial machine control system in which a real numerical controller is arranged in a machine tool
  • FIG. 1 is a diagram showing a configuration example of an industrial machine control system
  • FIG. 4 is a flowchart for explaining control processing of the numerical controller 10
  • FIG. 3 is a flowchart for explaining detailed processing contents of a safety verification process shown in step S3 of FIG. 2
  • FIG. 1 is a diagram showing a configuration example of an industrial machine control system
  • FIG. 1 is a diagram showing a configuration example of an industrial machine control system in which a real numerical controller is arranged in
  • FIG. 1 is a functional block diagram showing a functional configuration example of an industrial machine control system according to one embodiment.
  • a machine tool is exemplified as an industrial machine
  • a numerical controller is exemplified as a controller.
  • the present invention is not limited to machine tools and numerical control devices, but is also applicable to industrial machines such as injection molding machines, industrial robots, and service robots, and robot control devices that control industrial robots and the like. It is possible.
  • an industrial machine control system 1 includes a numerical controller 10 and network communication equipment 20 .
  • the numerical controller 10 and the network communication device 20 may be interconnected via a network (not shown) such as a LAN (Local Area Network) or the Internet.
  • the numerical controller 10 and the network communication device 20 are provided with a communication section (not shown) for mutual communication through such connection.
  • the numerical controller 10 and the network communication device 20 may be directly connected to each other via a connection interface (not shown).
  • a firewall (not shown) may be arranged between the numerical controller 10 and the network communication device 20.
  • the network communication device 20 is a computer, a tablet terminal, a smartphone, or the like connected to a network (not shown). Send and receive communication data.
  • the network communication device 20 may be a real-environment numerical control device 10 or a display device (not shown) built in a machine tool (not shown).
  • the numerical control device 10 is a numerical control device known to those skilled in the art, for example, generates an operation command based on network communication data received from the network communication device 20, and outputs the generated operation command to a machine tool (not shown). . Thereby, the numerical controller 10 controls the operation of the machine tool (not shown). If the machine tool (not shown) is a robot or the like, the numerical controller 10 may be a robot controller or the like. As shown in FIG. 1 , the numerical controller 10 includes a control section 100 .
  • the controller 100 includes a virtual numerical controller 110 and a real numerical controller 120 .
  • the virtual numerical control unit 110 also includes a network communication verification unit 111 and a CNC control simulation unit 112 as a control simulation unit.
  • the real numerical control unit 120 includes a network communication processing unit 121 and a CNC control unit 122 as a real operation control unit. Note that the virtual numerical control unit 110 and the real numerical control unit 120 may be arranged in different devices.
  • the control unit 100 has a CPU, a ROM, a RAM, a CMOS memory, etc., which are known to those skilled in the art and are configured to communicate with each other via a bus.
  • the CPU is a processor that controls the numerical controller 10 as a whole.
  • the CPU reads the system program and application program stored in the ROM through the bus and controls the entire numerical controller 10 according to the system program and application program.
  • the control section 100 is configured to implement the functions of the virtual numerical control section 110 and the real numerical control section 120 .
  • the virtual numerical control unit 110 is configured to realize the functions of the network communication verification unit 111 and the CNC control simulation unit 112 .
  • the real numerical control unit 120 is configured to implement the functions of the network communication processing unit 121 and the CNC control unit 122 .
  • Various data such as temporary calculation data and display data are stored in the RAM.
  • the CMOS memory is backed up by a battery (not shown), and configured as a non-volatile memory that retains the stored state even when the power of the numerical controller 10 is turned off.
  • the control unit 100 may execute a security application program and perform security software monitoring of network communication data transmitted and received with the network communication device 20 .
  • the virtual numerical control unit 110 executes network communication processing (simulation) on the received network communication data in the virtual environment, and performs test operations. do.
  • the virtual numerical control unit 110 confirms the state of the industrial machine control system 1 after the network communication processing of the network communication data, that is, the operation of the numerical control device 10 and the machine tool (not shown) in the virtual environment, there is no problem. , transfers the received network communication data to the real numerical control unit 120, which will be described later.
  • the virtual numerical control unit 110 includes the network communication verification unit 111 and the CNC control simulation unit 112 as described above.
  • the network communication verification unit 111 receives, for example, network communication data such as a connection request, parameter change command, and machining program from the network communication device 20, and outputs the received network communication data to the CNC control simulation unit 112, which will be described later. .
  • the network communication verification unit 111 may perform authentication processing when the network communication data from the network communication device 20 is a connection request. Further, when the network communication data from the network communication device 20 is encrypted data, the network communication verification section 111 may decrypt the network communication data and output it to the CNC control simulation section 112 .
  • the network communication verification unit 111 confirms the safety of the received network communication data based on the simulation result of the CNC control simulation unit 112, and performs real numerical control of the network communication data only when the received network communication data is determined to be safe.
  • the network communication verification unit 111 may return the verification result to the network communication device 20, for example, when a leased line or VPN (virtual private line) is accessed, or on the premise of appropriate user authentication.
  • the security verified by the network communication verification unit 111 includes (a) system operation state, (b) state after restart, (c) alarm state, and (d) program executable state, and these will be described.
  • the network communication verification unit 111 is not limited to verifying the safety of (a) system operation state, (b) state after restart, (c) alarm state, and (d) program executable state. and verifying the safety of at least one of (a) a system operational state, (b) a state after a restart, (c) an alarm state, and (d) a program executable state. You may
  • the network communication verification unit 111 processes the network communication data in the virtual environment based on the simulation results of the CNC control simulation unit 112, for example, and then processes the numerical control device 10 and the machine tool (not shown) in the virtual environment. Confirm that the industrial machine control system 1 including By doing so, even if the numerical control device 10 receives the network communication data by spoofing, it confirms that the industrial machine control system 1 does not stop due to the parameter change command and the machining program included in the network communication data. be able to.
  • the network communication verification unit 111 performs industrial machine control after processing the network communication data based on the simulation results of the CNC control simulation unit 112. By restarting the system 1, the initialization of the industrial machine control system 1 is normally performed, and the parameter change etc. are normally set and reflected in the numerical controller 10 and/or the machine tool (not shown). make sure there is
  • the network communication verification unit 111 determines the simulation result of the CNC control simulation unit 112 Confirm that the machining program can be executed (cycle start) without interference with the workpiece or the like when the network communication data is processed based on the above.
  • the CNC control simulation unit 112 executes, for example, network communication processing (simulation) of network communication data received from the network communication verification unit 111 in a virtual environment.
  • CNC control simulation section 112 outputs the simulation result to network communication verification section 111 .
  • the network communication processing (simulation) executed by the CNC control simulation unit 112 can use a known method, and detailed description thereof will be omitted.
  • the CNC control simulation unit 112 may execute network communication processing (simulation) for several years on network communication data in a short period of time, for example, by speeding up the time in the virtual environment.
  • the real numerical control unit 120 controls the operation of a machine tool (not shown) based on the network communication data received from the network communication verification unit 111 .
  • the real numerical control unit 120 returns control results to the network communication device 20 via the virtual numerical control unit 110 .
  • the real numerical control unit 120 includes the network communication processing unit 121 and the CNC control unit 122 as described above.
  • the network communication processing unit 121 receives only network communication data determined to be safe by the network communication verification unit 111, and performs network communication processing on the received network communication data.
  • the network communication processing unit 121 outputs the processed network communication data to the CNC control unit 122 which will be described later.
  • the CNC control unit 122 uses the network communication data received from the network communication processing unit 121 to control the operation of a machine tool (not shown) in a real environment. Specifically, for example, when the received network communication data is a parameter change command for the real numerical control unit 120 and/or a machine tool (not shown), the CNC control unit 122 controls the real numerical control unit 120 and/or the machine tool (not shown). In order to set and reflect the parameters in the machine (not shown), the real numerical control unit 120 and/or the machine tool (not shown) are restarted. Also, for example, when the received network communication data is a machining program, the CNC control unit 122 generates a control command based on the machining program, and outputs the generated control command to a machine tool (not shown). The CNC control unit 122 returns the control result of the machine tool (not shown) to the network communication device 20 via the network communication processing unit 121 .
  • FIG. 2 is a flowchart for explaining control processing of the numerical controller 10. As shown in FIG. The flow shown here is repeatedly executed each time network communication data is received from the network communication device 20 .
  • step S ⁇ b>1 the network communication verification unit 111 receives network communication data from the network communication device 20 .
  • step S2 the CNC control simulation unit 112 executes network communication processing (simulation) of the network communication data received in step S1.
  • step S3 the network communication verification unit 111 performs safety verification processing based on the simulation results of step S2. A detailed flow of the safety verification process will be described later.
  • step S4 the network communication verification unit 111 determines whether or not there is any problem with the verification based on the result of the safety verification process in step S3. If there is no problem with verification, the process proceeds to step S5. On the other hand, if there is a problem with verification, the process proceeds to step S7.
  • step S5 the network communication verification unit 111 transfers the network communication data received in step S1 to the real numerical control unit 120.
  • step S6 the network communication verification unit 111 returns to the network communication device 20 a response from the real numerical control unit 120 to the network communication transferred in step S5.
  • step S7 the network communication verification unit 111 stores the network communication data received in step S1 together with the determination information in, for example, a predetermined non-acceptance data storage unit (not shown). Alternatively, an alarm may be sent to the administrator to the effect that unsafe data has been received.
  • FIG. 3 is a flowchart for explaining the detailed processing contents of the safety verification process shown in step S3 of FIG.
  • step S31 the network communication verification unit 111 confirms that the industrial machine control system 1 has not stopped in the virtual environment after processing the network communication data in the virtual environment based on the simulation result of the CNC control simulation unit 112.
  • step S ⁇ b>32 if the network communication data includes a parameter change command or the like, the network communication verification unit 111 restarts the industrial machine control system 1 after processing the network communication data based on the simulation result of the CNC control simulation unit 112 . By starting up, it is confirmed that the initialization of the industrial machine control system 1 is performed normally, and that parameter changes, etc. are set and reflected normally in the numerical controller 10 and/or the machine tool (not shown). do.
  • step S33 the network communication verification unit 111 confirms that no alarm has occurred in the industrial machine control system 1 after processing the network communication data based on the simulation result of the CNC control simulation unit 112.
  • step S34 the network communication verification unit 111 processes the network communication data based on the simulation result of the CNC control simulation unit 112. After the network communication data is processed, the network communication verification unit 111 performs machining without interference with the workpiece or the like by the machining program added or changed by the network communication data. Check that program execution (cycle start) is possible.
  • step S35 the network communication verification unit 111 determines whether or not there is any problem in all verification results from steps S31 to S34. If there is no problem in all verification results, the process proceeds to step S36. On the other hand, if at least one verification result has a problem, the process proceeds to step S37.
  • step S36 the network communication verification unit 111 sets the verification result to "no problem in verification", and returns to step S4 in FIG.
  • step S37 the network communication verification unit 111 determines that "verification has a problem" and returns to step S4 in FIG. Note that the processes from step S31 to step S34 may be executed in any order, some steps may be omitted, or they may be executed in parallel.
  • the numerical control device 10 can verify the safety by executing a simulation of the received network communication data in a virtual environment.
  • a machine tool (not shown) can be safely controlled.
  • the numerical control device 10 can perform network communication processing (simulation) of network communication data in a short period of time, such as several years, in a virtual environment, even if it is a new or unknown type of malware or virus that cannot be detected by anti-virus software. By doing so, the timed firing of the malware/virus can be detected, and the safety can be verified.
  • the numerical controller 10 decrypts even encrypted network communication data that cannot be inspected by anti-virus software, and performs network communication processing (simulation) on the network communication data in a virtual environment, thereby verifying its safety. It becomes possible. By doing so, it is possible to reduce the risk of an external attack on the numerical control device 10 mounted on the machine tool, etc., and to continue the manufacturing activities of the machine tool-using enterprise.
  • the numerical control device 10 is not limited to the above-described embodiment, and includes modifications, improvements, etc. within a range that can achieve the purpose.
  • the numerical controller 10 has a virtual numerical controller 110 and a real numerical controller 120, but is not limited to this.
  • the industrial machine control system 1 includes, as the numerical controller 10, a virtual numerical controller 10A (on the digital twin side) having the functions of the virtual numerical controller 110 and the functions of the real numerical controller 120. and the real numerical control device 10B (real side) having . 4, the network communication verification unit 111 and the CNC control simulation unit 112 included in the virtual numerical control unit 110, and the network communication processing unit 121 and the CNC control unit 122 included in the real numerical control unit 120 are shown. omitted.
  • the industrial machine control system 1 detects an attack that suspends corporate activities in response to a control request from the network communication device 20 by the virtual numerical control device 10A (digital twin side) that executes on the virtual environment. By transferring only valid requests to the real numerical controller 10B (real side), it is possible to protect the manufacturing base while providing the network communication device 20 with monitoring and control functions.
  • the virtual numerical controller 10A may be a computer or the like, and the real numerical controller 10B may be a numerical controller mounted on a machine tool (not shown).
  • a firewall (not shown) may be arranged between the virtual numerical controller 10A and the real numerical controller 10B. Thereby, the security of the industrial machine control system 1 can be further enhanced.
  • FIG. 5 is a diagram showing a configuration example of the industrial machine control system 1 when the real numerical controller 10B is arranged in the machine tool 30.
  • the real numerical control device 10B responds to the user's input operation of a machine tool display device (HMI) 31 as an input unit included in the machine tool 30 as the network communication device 20.
  • HMI machine tool display device
  • the input data is sent to the virtual numerical control unit 110 (on the digital twin side) as network communication data, and a simulation is performed in the virtual environment. Actual processing may be performed in some cases.
  • the machine tool display device 31 may display the verification result received from the virtual numerical controller 10A.
  • FIG. 6 is a diagram showing a configuration example of the industrial machine control system 1B.
  • the cloud system 40 loads and executes virtual environments (containers (registered trademark)) of n manufacturing bases/devices of the same company or different companies on the cloud, and n Virtual numerical control environments 110a-1 to 110a-n (n is an integer equal to or greater than 2) may be provided as virtual execution environments for each manufacturing site/device.
  • Each of the virtual numerical control environments 110a-1 to 110a-n includes a network communication verification section 111 and a CNC control simulation section 112, like the virtual numerical control section 110 in FIG. Accordingly, the cloud system 40 may perform verification by switching to a virtual device that operates on the virtual environment according to the industrial machine that received the network communication data. The cloud system 40 may distribute only the verified network communication data to the real numerical control device 10B arranged at the corresponding manufacturing base/device. Note that the real numerical control device 10B has the same functions as the real numerical control device 10B of FIG. By doing so, preparation of a virtual execution environment in the real numerical controller 10B arranged at each manufacturing site/device becomes unnecessary.
  • Each function included in the numerical control device 10 in one embodiment can be realized by hardware, software, or a combination thereof.
  • “implemented by software” means implemented by a computer reading and executing a program.
  • Each component included in the numerical controller 10 can be realized by hardware including electronic circuits, software, or a combination thereof.
  • the programs that make up this software are installed on the computer. These programs may be recorded on removable media and distributed to users, or may be distributed by being downloaded to users' computers via a network.
  • some or all of the functions of each component included in the above device are, for example, ASIC (Application Specific Integrated Circuit), gate array, FPGA (Field Programmable Gate Array), CPLD ( It can be composed of an integrated circuit (IC) such as a Complex Programmable Logic Device.
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • CPLD It can be composed of an integrated circuit (IC) such as a Complex Programmable Logic Device.
  • Non-transitory computer-readable media include various types of tangible storage media.
  • Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible discs, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical discs), CD-ROMs (Read Only Memory), CD- R, CD-R/W, semiconductor memory (eg, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM).
  • the program may also be supplied to the computer on various types of transitory computer readable medium. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable media can deliver the program to the computer via wired communication channels, such as wires and optical fibers, or wireless communication channels.
  • steps of writing a program recorded on a recording medium include not only processes that are executed chronologically in order, but also processes that are executed in parallel or individually, even if they are not necessarily processed chronologically. is also included.
  • control device control method, and cloud system of the present disclosure can take various embodiments having the following configurations.
  • the numerical control device 10 of the present disclosure is a control device having a digital twin function that controls an industrial machine in both a virtual environment and a real environment, and receives network communication data for the industrial machine from the network communication device 20.
  • a network communication verification unit 111 verifies the safety of network communication data
  • a CNC control simulation unit 112 executes processing of the received network communication data in a virtual environment, and the industrial machine is simulated in a real environment using the network communication data.
  • the network communication verification unit 111 transmits the received network communication data to the CNC control simulation unit 112, and the network communication data is processed by the CNC control simulation unit 112 based on the network communication data. It verifies the safety of the communication data and outputs the network communication data verified as safe to the CNC control unit 122 . According to this numerical controller 10, even if security measures are breached, industrial machines can be safely controlled.
  • the verification of the safety of the network communication data includes processing the network communication data in at least a virtual environment, and then performing the industrial machine control system 1 including the numerical controller 10 and the industrial machine.
  • the system operation state indicating that the is not stopped, the state after restart indicating that the industrial machine control system 1 has been restarted after processing the network communication data and the initialization of the industrial machine control system 1 has been completed, and the network communication An alarm state indicating that no alarm has occurred in the industrial machine control system 1 after processing the data, or a program executable state indicating that the industrial machine control system 1 can execute the machining program after processing the network communication data.
  • the numerical control device 10 can more reliably verify whether or not the received network communication data contains an attack that stops the industrial machine control system 1 .
  • the network communication verification unit 111 further uses the input data input by the user from the input unit included in the industrial machine as network communication data for security. After verification, the CNC control unit 122 may control the operation of the industrial machine in a real environment based on the input data verified as safe by the network communication verification unit 111 . By doing so, the numerical controller 10 can prevent erroneous operations by the user.
  • a control method of the present disclosure is a control method that enables a computer to realize a digital twin function that controls an industrial machine in both a virtual environment and a real environment, and receives network communication data for the industrial machine from the outside. Then, process the received network communication data in a virtual environment, verify the safety of the network communication data based on the processing of the network communication data, and use the network communication data that has been verified as safe to operate the industrial machine in the real environment. to control the operation. According to this control method, the same effect as (1) can be obtained.
  • the cloud system 40 of the present disclosure includes a plurality of virtual numerical control environments 110a-1 to 110a-n that load and execute a virtual environment for controlling industrial machines on the cloud for each of a plurality of manufacturing bases.
  • Each of the virtual numerical control environments 110a-1 to 110a-n receives network communication data for industrial machines from the outside, and has a network communication verification unit 111 that verifies the safety of the network communication data and processes the received network communication data.
  • the network communication verification unit 111 transmits the received network communication data to the control simulation unit 112, and based on the processing of the network communication data by the control simulation unit 112, the network communication verification unit 111 The safety of the communication data is verified, and the network communication data verified as safe is output to the real numerical controller 10B arranged at the corresponding manufacturing base. According to this cloud system 40, the same effect as (1) can be obtained.

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Abstract

Le but de la présente invention est de commander de manière sûre des machines industrielles même lorsque des mesures de sécurité sont rompues.　Ce dispositif de commande a une double fonction numérique pour commander une machine industrielle à la fois dans un environnement virtuel et dans un environnement réel, dans lequel : le dispositif de commande comprend une unité de vérification de communication de réseau pour recevoir des données de communication de réseau pour la machine industrielle depuis l'extérieur et vérifier la sécurité des données de communication de réseau, une unité de simulation de commande pour traiter les données de communication de réseau reçues dans l'environnement virtuel, et une unité de commande d'opération réelle pour commander le fonctionnement de la machine industrielle dans l'environnement réel à l'aide des données de communication de réseau ; et l'unité de vérification de communication de réseau transmet les données de communication de réseau reçues à l'unité de simulation de commande, vérifie la sécurité des données de communication de réseau sur la base du traitement des données de communication de réseau par l'unité de simulation de commande, et délivre des données de communication de réseau qui sont vérifiées comme étant sûres pour l'unité de commande d'opération réelle.
PCT/JP2021/040661 2021-11-04 2021-11-04 Dispositif de commande, procédé de commande et système en nuage WO2023079652A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018078878A1 (fr) * 2016-10-31 2018-05-03 三菱電機株式会社 Appareil d'aide à la conception d'un système, dispositif de commande, système de commande et écran d'exploitation
WO2021117868A1 (fr) * 2019-12-13 2021-06-17 川崎重工業株式会社 Système de robot et procédé de formation d'un modèle tridimensionnel d'une pièce à usiner
JP2021146435A (ja) * 2020-03-18 2021-09-27 日本電産株式会社 ロボットシステム、ロボットシステムで実行される方法および教示データを生成する方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018078878A1 (fr) * 2016-10-31 2018-05-03 三菱電機株式会社 Appareil d'aide à la conception d'un système, dispositif de commande, système de commande et écran d'exploitation
WO2021117868A1 (fr) * 2019-12-13 2021-06-17 川崎重工業株式会社 Système de robot et procédé de formation d'un modèle tridimensionnel d'une pièce à usiner
JP2021146435A (ja) * 2020-03-18 2021-09-27 日本電産株式会社 ロボットシステム、ロボットシステムで実行される方法および教示データを生成する方法

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