ROBOT DEVICE AND ROBOT CONTROLLER
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United States of America Patent
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May 25, 2017
filing date -
Nov 29, 2014
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Abstract
The purpose of the present invention is to improve robot arm mechanism's operability regarding translational movement and posture change. A robot device includes: a robot arm mechanism capable of being provided with an end effector at a tip thereof and including a plurality of joints; an operation section for operating a movement and a posture change of the end effector; and a control section for controlling driving of the joints in accordance with an operation of the operation section. The control section associates a translational operation received from the operation section with orthogonal three axes of a robot coordinate system of the robot arm mechanism to move a hand reference point. During the movement, a posture of the end effector is maintained at a posture on the robot coordinate system at the start of the translational operation. A posture change operation of the end effector input via the operation section is associated with orthogonal three axes of a hand coordinate system having a reference point of the end effector as the origin to change the posture of the end effector. At this time, a position of the hand reference point is maintained at a position on the robot coordinate system at the start of the posture change operation.
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