US 11,858,130 B2
Controller of robot for performing manual operation by operation device
Gu Yihua, Yamanashi (JP); and Takashi Satou, Yamanashi (JP)
Assigned to Fanuc Corporation, Yamanashi (JP)
Filed by Fanuc Corporation, Yamanashi (JP)
Filed on Dec. 3, 2019, as Appl. No. 16/701,837.
Claims priority of application No. 2018-230022 (JP), filed on Dec. 7, 2018.
Prior Publication US 2020/0180143 A1, Jun. 11, 2020
Int. Cl. B25J 9/06 (2006.01); B25J 9/00 (2006.01); B25J 13/06 (2006.01); B25J 9/16 (2006.01)
CPC B25J 9/0081 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1664 (2013.01); B25J 13/06 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A controller of a robot, comprising:
an operation input device including a main body and a movable member supported by the main body portion, wherein the operation input device is arranged to permit an operator to perform an operation of manually changing a position and an orientation of the robot;
at least one processor configured to process an operation command from the operation input device in response to the operation of the operation input device; and
at least one storage; wherein,
the movable member is configured to perform a pushing operation, a pulling operation, and a tilting operation in a predetermined direction, and
the at least one processor is configured to:
upon the operator switching a control mode of the controller to an inching mode, manually control an inching operation for changing, based on the operation command generated during the operation of the operation input device, the position and the orientation of the robot by a predetermined minute amount to directly correspond to an operation direction and an operation amount of the movable member, and
store, in the at least one storage, one predetermined setting direction in which a working tool attached to the robot moves as a set value,
wherein after the operation of the operation input device to manually change the position and orientation of the robot, the inching operation is performed so as to move the working tool only in accordance with the predetermined setting direction of the set value such that any operation of the movable member in a direction different from the predetermined setting direction does not cause movement of the working tool,
wherein the at least one processor does not perform the inching operation when a level of a magnitude of force with which the movable member is operated by the user to manually change the position and the orientation of the robot and an elapsed time is less than a predetermined determination value, and performs the inching operation when the level of the magnitude of the force with which the movable member is operated by the user to manually change the position and the orientation of the robot and the elapsed time is greater than the predetermined determination value.