Control device, control system, robot system and controlling method

1 . A control device for a robot having a robot arm and an end-effector, comprising:

an input device for receiving, before operation of the robot, an operating mode input representing a selection between operating modes comprising an automatic mode and a correctable automatic mode;

a memory part configured to store operational information comprising a preset task program for causing the robot to perform a given operation according to the operating mode input, the operational information comprising information on an orbit of the end effector; and

a processing part configured to perform operations comprising operations to control the operation of the robot based on the stored operational information as automatic operational information for causing the robot to perform an automatic work according to the preset task program to approach a target orbit, wherein

according to the operating mode input being the correctable automatic mode, the processing part is configured to perform operations further comprising:

accepting manipulation information for correcting the operation of the robot performing the automatic work using the automatic operational information, from a controller, the manipulation information correcting movement of the end effector on the stored orbit to a corrected orbit that more closely approaches the target orbit;

generating corrected operational information based on the manipulation information and part of the stored operational information;

controlling the robot based on the corrected operational information so that the robot performs operation corrected from the operation related to the automatic operational information;

determining whether the target object is sufficiently approached based on the controlling the robot;

based on a determination that the target object is not sufficiently approached, receiving a selection to not store in the memory part the corrected operational information for causing the robot to perform the corrected operation and repeating the accepting the manipulation information and the generating the corrected operational information; and

based on a determination that the target object is sufficiently approached receiving a selection comprising a selection to store in the memory part the corrected operational information for causing the robot to perform the corrected operation, the stored corrected operation information replacing the stored operational information as the automatic operational information for causing the robot to perform the automatic work, the corrected operational information comprising information on the corrected orbit that updates the stored information on the orbit of the end effector,

according to the operating mode input being the automatic mode, the processing part is configured to perform operations further comprising operations to control the robot to perform the automatic work using the automatic operational information without accepting the manipulation information; and

the controller outputs to the processing part the manipulation information indicative of the movement of the controller.

2 . The control device of claim 1 , wherein the controller includes an inertial measurement unit, and outputs the manipulation information based on measurement data of the inertial measurement unit.

3 . The control device of claim 1 , wherein the controller is configured to be freely movable in arbitrary directions.

4 . The control device of claim 1 , wherein the controller comprises a handheld controller that includes a perception device configured to provide a stimulus of perception,

wherein the processing part outputs perception information indicative of the operation of the robot to the perception device, and

wherein the perception device provides the stimulus of perception corresponding to an operating state of the robot based on the perception information.

5 . The control device of claim 4 , wherein the perception device comprises an actuator that provides a stimulus of tactile sense.

6 . The control device of claim 1 , wherein the processing part controls the operation of the robot by using the latest stored operational information stored in the memory part as the automatic operational information.

7 . The control device of claim 1 , wherein the memory part stores a plurality of pieces of stored operational information, and

wherein the processing part determines the stored operational information to be used as the automatic operational information from the plurality of pieces of stored operational information stored in the memory part.

8 . The control device of claim 1 , wherein the memory part stores a plurality of pieces of stored operational information, and

wherein the processing part generates new stored operational information by using the plurality of pieces of stored operational information stored in the memory part.

9 . A control system, comprising:

the control device of claim 1 ; and

the controller.

10 . A robot system, comprising:

the control device of claim 1 ;

the robot; and

the controller.

11 . A method of controlling a robot having a robot arm and an end-effector, comprising:

receiving, before operation of the robot, an operating mode input representing a selection between operating modes comprising an automatic mode and a correctable automatic mode; and

controlling the robot by using stored operational information that is information stored in a memory part comprising a preset task program for causing the robot to perform a given operation according to the received operating mode input, the operational information comprising information on an orbit of the end effector, the stored operational information comprising automatic operational information for causing the robot to perform an automatic work according to the preset task program to approach a target orbit; wherein,

according to the received operating mode input being the correctable automatic mode, operating the robot comprises:

accepting manipulation information for correcting the operation of the robot performing the automatic work using the automatic operational information, from a controller, the manipulation information correcting movement of the end effector on the stored orbit to a corrected orbit that more closely approaches the target orbit;

generating corrected operational information based on the manipulation information and part of the stored operational information;

controlling the robot based on the corrected operational information so that the robot performs operation corrected from the operation related to the automatic operational information; determining whether the target object is sufficiently approached based on the controlling the robot;

based on a determination that the target object is not sufficiently approached, repeating the accepting the manipulation information and the generating the corrected operational information, receiving a selection to not store in the memory part the corrected operational information for causing the robot to perform the corrected operation; and

based on a determination that the target object is sufficiently approached receiving an input selection comprising a selection for storing in the memory part corrected operational information for causing the robot to perform the corrected operation, the stored corrected operation information replacing the stored operational information as the automatic operational information for causing the robot to perform the automatic work, the corrected operational information comprising information on the corrected orbit that updates the stored information on the orbit of the end effector,

according to the operating mode input being the automatic mode, operating the robot comprises performing the automatic work using the automatic operational information without accepting the manipulation information; and

the controller outputs the manipulation information indicative of the movement of the controller.

12 . The control device of claim 2 , wherein the controller is configured to be freely movable in arbitrary directions.

13 . The control device of claim 12 , wherein the controller comprises a handheld controller that includes a perception device configured to provide a stimulus of perception,

wherein the processing part outputs perception information indicative of the operation of the robot to the perception device, and

wherein the perception device provides the stimulus of perception corresponding to an operating state of the robot based on the perception information.

14 . The control device of claim 13 , wherein the perception device comprises an actuator that provides a stimulus of tactile sense.

15 . The control device of claim 2 , wherein the controller comprises a handheld controller that includes a perception device provides a stimulus of perception,

wherein the processing part outputs perception information indicative of the operation of the robot to the perception device, and

wherein the perception device provides the stimulus of perception corresponding to an operating state of the robot based on the perception information.

16 . The control device of claim 15 , wherein the perception device comprises an actuator that provides a stimulus of tactile sense.

17 . The control device of claim 3 , wherein the controller comprises a handheld controller that includes a perception device that provides a stimulus of perception,

wherein the processing part outputs perception information indicative of the operation of the robot to the perception device, and

wherein the perception device provides the stimulus of perception corresponding to an operating state of the robot based on the perception information.

18 . The control device of claim 17 , wherein the perception device comprises an actuator that provides a stimulus of tactile sense.

19 . The control device of claim 6 , wherein the memory part stores a plurality of pieces of stored operational information, and

wherein the processing part generates new stored operational information by using the plurality of pieces of stored operational information stored in the memory part.

20 . The control device of claim 7 , wherein the memory part stores a plurality of pieces of stored operational information, and

wherein the processing part generates new stored operational information by using the plurality of pieces of stored operational information stored in the memory part.

21 . The control device of claim 1 , wherein

the operational information comprises a speed of the end effector along the orbit, and

the corrected orbit includes a corrected speed of the end effector along the corrected orbit.

22 . The method of controlling a robot according to claim 11 , wherein

the operational information comprises a speed of the end effector along the orbit, and

the corrected orbit includes a corrected speed of the end effector along the corrected orbit.