ROBOT OPERATION APPARATUS, ROBOT SYSTEM, AND ROBOT OPERATION PROGRAM

摘要

In a robot operation apparatus, a motion command generator selects one of combinations of driving axes as an operation object from among preset combinations of the driving axes including at least one of: a driving axis associated with drag operation in a first direction for a touch panel; or a driving axis associated with drag operation in a second direction intersecting with the first direction. If touch operation detected by a touch operation detector is the drag operation, the motion command generator determines whether drag operation is in the first direction or the second direction. The motion command generator generates a motion command to drive the driving axis associated with drag operation in the first direction, if drag operation is in the first direction, and generates a motion command to drive the driving axis associated with drag operation in the second direction, if drag operation is in the second direction.

主权项

1. A robot operation apparatus comprising:
a touch panel that receives a touch operation inputted from a user; a touch operation detector that detects the touch operation in a planar direction of the touch panel inputted from the user; a motion command generator that generates a motion command to operate an articulated robot having a plurality of driving axes based on a detection result of the touch operation detector; a selection operation detector that is integrally or separately provided with the touch panel and detects a selection operation in the touch panel inputted from the user, the motion command generator being configured to perform:
a selection process to select, based on the detection result of the touch operation detector, one of combinations of the driving axes as an operation object from among preset combinations of the driving axes including at least one of: i) a first driving axis of the robot associated with a drag operation in a first direction for the touch panel; or ii) a second driving axis of the robot associated with a drag operation in a second direction intersecting with the first direction;an operation determination process to determine whether a direction of the drag operation is the first direction or the second direction, if the touch operation detected by the touch operation detector is the drag operation;a first motion command generation process to generate, if the direction of the drag operation is the first direction, a first motion command to drive the first driving axis of the robot associated with the drag operation in the first direction among the combinations of driving axes selected in selection process; anda second motion command generation process to generate, if the direction of the drag operation is the second direction, a second motion command to drive the second driving axis of the robot associated with the drag operation in the second direction among the combinations of driving axes selected in selection process.