Robot operation apparatus, robot system, and robot operation program

Patent metadata

Field	Value
Publication number	US-2016229052-A1
Application number	US-201415023622-A
Country	US
Kind code	A1
Filing date	Sep 19, 2014
Priority date	Sep 20, 2013
Publication date	Aug 11, 2016
Grant date	—

Abstract

A robot operation apparatus includes touch panel, touch operation detecting unit, action command generating unit, and selection operation detecting unit. The action command generating unit is capable of performing an operation determining process and an action command generating process. The operation determining process is a process for determining a drive axis or an action mode of a robot to be operated based on the selection operation detected by the selection operation detecting unit, and when a touch operation detected by the touch operation detecting unit is a drag operation, determining a movement amount of the drag operation. The action command generating process is a process for determining a movement amount of the robot based on the movement amount determined by in the operation determining process, and generating an action command for moving the robot at the drive axis or in the action mode to be operated by the movement amount.

First claim

1 - 34 . (canceled)

35 . A robot operation apparatus comprising:
a touch panel that receives input of a touch operation from a user; a touch operation detecting unit that is capable of detecting a touch operation in a planar direction that is inputted to the touch panel; an action command generating unit that generates an action command for operating an articulated-type robot having a plurality of drive axes, based on a detection result from the touch operation detecting unit; and a selection operation detecting unit that detects a selection operation by a user for selecting a drive axis or an action mode of the robot to be operated, wherein the action command generating unit configured to perform
an operation determining process for determining the drive axis or the action mode of the robot to be operated based on the selection operation detected by the selection operation detecting unit, and when the touch operation detected by the touch operation detecting unit is a drag operation, determining a movement amount of the drag operation and
an action command generating process for determining a movement amount of the robot based on the movement amount of the drag operation determined in the operation determining process, and generating an action command for moving the robot at the drive axis or in the action mode to be operated by the movement amount, and
the operation determining process includes a process for determining the drive axis or the action mode to be operated based on a number of fingers or an operating direction, or the number of fingers and the operating direction of a drag operation, when the touch operation detected by the selection operation detecting unit is the drag operation.

36 . The robot operation apparatus according to claim 35 , wherein:
the operation determining process includes
a first operation determining process for determining whether or not the detected touch operation is a first operation that is a drag operation by a single finger,
a second operation determining process for determining whether or not the detected touch operation is a second operation that is a drag operation by two fingers and an operation in a predetermined direction, and
a third operation determining process for determining whether or not the detected touch operation is a third operation that is a drag operation by two fingers and an operation in a direction differing from that of the second operation; and
the action command generating process includes
a horizontal movement action command generating process for generating, when determined that the touch operation is the first operation in the first operation determining process, the action command for moving a hand of the robot in a planar direction that is horizontal to an action reference plane of the robot,
a vertical movement action command generating process for generating, when determined that the touch operation is the second operation in the second operation determining process, the action command for moving the hand of the robot along a vertical axis direction perpendicular to the action reference plane, and
a rotation action command generating process for generating, when determined that the touch operation is the third operation in the third operation determining process, the action command for rotating the hand of the robot.

37 . The robot operation apparatus according to claim 36 , wherein:
the second operation is a drag operation by two fingers in a linear direction, and an operation in which a distance between the fingers gradually shortens or gradually lengthens during a period in which the drag operation is performed; the third operation is a drag operation by two fingers in a circumferential direction; and the vertical movement action command generating process includes
an approaching command generating process for generating, when the second operation is that in which the distance between the fingers gradually lengthens, the action command for moving the hand of the robot in a direction approaching the action reference plane, and
a separating command generating process for generating, when the second operation is that in which the distance between the fingers gradually shortens, the action command for moving the hand of the robot in a direction away from the action reference plane.

38 . The robot operation apparatus according to claim 36 , wherein:
the second operation is an operation in a vertical direction on the touch panel; and the third operation is an operation in a lateral direction perpendicular to the vertical direction on the touch panel.

39 . A robot operation apparatus comprising:
a touch panel that receives input of a touch operation from a user; a touch operation detecting unit that is capable of detecting a touch operation in a planar direction that is inputted to the touch panel; an action command generating unit that generates an action command for operating an articulated-type robot having a plurality of drive axes, based on a detection result from the touch operation detecting unit; and a selection operation detecting unit that detects a selection operation by a user for selecting a drive axis or an action mode of the robot to be operated, wherein the action command generating unit configured to perform
an operation determining process for determining the drive axis or the action mode of the robot to be operated based on the selection operation detected by the selection operation detecting unit, and when the touch operation detected by the touch operation detecting unit is a drag operation, determining a movement amount of the drag operation and
an action command generating process for determining a movement amount of the robot based on the movement amount of the drag operation determined in the operation determining process, and generating an action command for moving the robot at the drive axis or in the action mode to be operated by the movement amount, and
the action command generating process includes a drive axis selecting process for selecting a single drive axis to be driven, among the plurality of drive axes, based on a number of fingers or an operating direction, or the number of fingers and the operating direction of a drag operation, when the detected touch operation is a drag operation by a finger.

40 . The robot operation apparatus according to claim 39 , wherein
the drive axis selecting process includes
a first drive axis selecting process for selecting, when the operating direction of the drag operation is a vertical direction on the touch panel, a single drive axis to be driven, among drive axes of a first group that move the hand of the robot in a vertical direction in relation to the action reference plane, based on the number of fingers of the drag operation; and
a second drive axis selecting process for selecting, when the operating direction of the drag operation is a lateral direction perpendicular to the vertical direction, or a circumferential direction on the touch panel, a single drive axis to be driven, among drive axes other than the drive axes of the first group, based on the number of fingers of the drag operation.

41 . The robot operation apparatus according to claim 39 , wherein:
the drive axis selecting process determines the drive axis to be driven by transitioning from a drive axis on a base side of the robot to a drive axis on the hand side, in accompaniment with increase in the number of fingers of the drag operation.

42 . The robot operation apparatus according to claim 39 , wherein:
the drive axis selecting process determines the drive axis to be driven by transitioning from a drive axis on the hand side of the robot to a drive axis on the base side, in accomp

Assignees

• Denso Wave Inc

Inventors

• Touma Hirota
• Kawase Daisuke
• Ogawa Akira
• Yui Daisuke
• Kanada Motoki
• Ohashi Yoshinobu
• Sugano Atsuko
• Ide Satoshi

Classifications

• B25J13/06 Primary

  Control stands, e.g. consoles, switchboards · CPC title

• G06F3/04883

  for inputting data by handwriting, e.g. gesture or text · CPC title

• G05B2219/36168

  Touchscreen · CPC title

• G05B2219/40392

  Programming, visual robot programming language · CPC title

• B25J9/161 Primary

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title