| CPC B25J 9/1694 (2013.01) [B25J 15/08 (2013.01)] | 12 Claims |
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1. An industrial articulated robot comprising:
a movable arm, the movable arm having a plurality of serially jointed links with a joint arranged between two of the links, the movable arm being configured to enable a user to manually and directly grasp one of the links of the arm and manually change a position and a posture of the arm for direct teaching of the robot, the movable arm provided with a hand on a distal end of the arm, the hand having a pair of claw portions which grip a workpiece, the claw portions being configured to open and close selectively in response to user's manual operations performed with open and close buttons arranged on a one link of the links of the arm, and the movable arm provided with a position recording button arranged on the one link of the arm on which the open and close buttons are also arranged, the user being allowed to selectively press the open and close buttons and the position recording button while the user manually and directly grasps the one link, the position recording button receiving the user's manual operations selectively performed with the open and close buttons every time the position recording button is pressed;
a recoding medium; and
a controller comprising:
a first detector configured to detect the position and the posture of the arm manually operated by the user;
a second detector configured to detect an open/closed position of the claw portions in response to user's selective operations on the open and close buttons;
a third detector configured to detect a gripping force generated by the claw portions of the hand; and
a processor configured to i), during the direct teaching, record into the recording medium, as state information to be recorded in time series, the position and the posture, the open/closed position where the workpiece is to be gripped, and the gripping force, which are detected by the first detector, the second detector, and the third detector, respectively, obtained every time when the user manually presses the position recording button, and
ii), during a reproducing operation of the robot, control by the controller operations of the arm and the hand such that the operations of both the arm and the hand are reproduced based on the state information recorded in time series in the recording medium,
wherein, in the reproducing operation of the robot, when the gripping force recorded as the state information is larger than a first force which is set to be larger than zero so as to determine that a gripping operation of the hand is being performed, the controller is configured to operate the hand so as to move the hand to a position before the open/closed position by a predetermined distance.
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