Manipulation apparatus, robot system, manipulation apparatus control method, and robot system control method
A manipulation apparatus configured to manipulate a robot includes a processor configured to, in a case where the robot interferes with an object and on a basis of a direction in which the robot receives a load from the object, determine a manipulation direction in which a manipulation of the robot is acceptable.
1 . A manipulation apparatus configured to manipulate a robot, the manipulation apparatus comprising:
a processor configured to:
display a user interface image including a plurality of manipulation buttons on a display portion, each manipulation button of the plurality of manipulation buttons corresponding to a respective direction of a plurality of directions of movement of the distal end of the robot, wherein, based on selection of one or more manipulation buttons among the plurality of manipulation buttons on the display portion, the processor is configured to instruct the distal end of the robot to operate in the respective directions corresponding to the selected one or more manipulation buttons;
determine one or more directions in which the robot is not permitted to move based on a load that the robot is receiving from an object being maintained or increased;
display, on the display portion, a first manipulation button of the plurality of manipulation buttons corresponding to a first direction in which the robot is permitted to move and a second manipulation button of the plurality of manipulation buttons corresponding to a second direction in which the robot is not permitted to move, the first manipulation button comprising a first image displayed in a first display form, the second manipulation button comprising a second image displayed in a second display form different from the first display form, wherein the determined one or more directions in which the robot is not permitted to move includes the second direction and does not include the first direction; and
output a command to move the distal end of the robot in the first direction in response to a user's selection of the first manipulation button on the display portion.
2 . The manipulation apparatus according to claim 1 , wherein the processor is configured to not accept a manipulation in a direction other than the first direction.
3 . The manipulation apparatus according to claim 1 , wherein the first direction is a direction in which the load that the robot is receiving from the object decreases.
4 . The manipulation apparatus according to claim 1 , wherein the processor is configured to specify a direction in which the robot is receiving the load, at a joint receiving the load among a plurality of joints of the robot.
5 . The manipulation apparatus according to claim 1 , wherein the processor is configured to specify a direction in which the robot is receiving the load, at an end effector of the robot.
6 . The manipulation apparatus according to claim 1 , wherein the processor is configured to determine the first direction on a basis of a direction in which the robot is receiving the largest load among directions in which the robot is receiving the load.
7 . The manipulation apparatus according to claim 1 , wherein the user interface image includes the first manipulation button for instructing the robot to operate in the first direction.
8 . The manipulation apparatus according to claim 1 , wherein the processor is configured to:
display, on the display portion, the plurality of manipulation buttons for instructing the robot to operate in different directions; and
in a case where the robot interferes with the object, not accept a manipulation on a manipulation button for instructing the robot to operate in a direction other than the first direction among the plurality of manipulation buttons.
9 . The manipulation apparatus according to claim 1 , wherein the processor is configured to display a robot image corresponding to the robot on the display portion.
10 . The manipulation apparatus according to claim 9 , wherein, in the robot image, a portion corresponding to a part of the robot receiving the load is displayed in a color different from colors of other parts.
11 . The manipulation apparatus according to claim 9 , wherein the processor is configured to display animation indicating an operation in the first direction in the robot image.
12 . The manipulation apparatus according to claim 1 , wherein the processor is configured to eliminate the second manipulation button corresponding to the second direction on the display portion.
13 . The manipulation apparatus according to claim 1 , wherein the processor is configured to transparently display the second manipulation button corresponding to the second direction on the display portion.
14 . The manipulation apparatus according to claim 1 , wherein the processor is configured to display the second manipulation button corresponding to the second direction grayed out on the display portion.
15 . The manipulation apparatus according to claim 1 , wherein the processor is configured to display a three-dimensional handle model on the display portion as the user interface image.
16 . The manipulation apparatus according to claim 1 , wherein the processor is configured to display an operation instruction portion that allows a user to provide one or more inputs to cause the robot to perform a jog operation.
17 . The manipulation apparatus according to claim 1 , wherein the processor is configured to display an arrow on the display portion in a vicinity of the robot as the first image corresponding to the first direction.
18 . The manipulation apparatus according to claim 1 ,
wherein the first direction is a direction in which the load that the robot receives from the object decreases in a situation in which the robot is in contact with the object, and
wherein the second direction is a direction in which the load that the robot receives from the object increases or remains constant in the situation in which the robot is in contact with the object.
19 . The manipulation apparatus according to claim 1 ,
wherein robot includes a detection portion that detects contact with the object,
wherein the processor is configured to specify a direction of the load that the robot receives from the object on a basis of a detection result of the detection portion, and
wherein the processor is configured to specify the first direction and the second direction on a basis of the direction of the load.
20 . A robot system comprising:
a robot; and
a manipulation apparatus configured to manipulate the robot,
wherein the manipulation apparatus includes a processor configured to:
display a user interface image including a plurality of manipulation buttons on a display portion, each manipulation button of the plurality of manipulation buttons corresponding to a respective direction of a plurality of directions of movement of the distal end of the robot, wherein, based on selection of one or more manipulation buttons among the plurality of manipulation buttons on the display portion, the processor is configured to instruct the distal end of the robot to operate in the respective directions corresponding to the selected one or more manipulation buttons;
determine one or more directions in which the robot is not permitted to move based on a load that the robot is receiving from an object being maintained or increased;
display, on the display portion, a first manipulation button of the plurality of manipulation buttons corresponding to a first direction in which the robot is permitted to move and a second manipulation button of the plurality of manipulation buttons corresponding to a second direction in which the robot is not permitted to move, the first manipulation button comprising a first image displayed in a first display form, the second manipulation button comprising a second image displayed in a second display form different from the first display form, wherein the determined one or more directions in which the robot is not permitted to move includes the second direction and does not include the first direction; and
output a command to move the distal end of the robot in the first direction in response to a user's selection of the first manipulation button on the display portion.
21 . A control method for a robot system including a robot and a manipulation apparatus configured to manipulate the robot, the control method comprising:
controlling the robot of the robot system in accordance with an instruction from the manipulation apparatus,
wherein the manipulation apparatus includes a processor configured to:
display a user interface image including a plurality of manipulation buttons on a display portion, each manipulation button of the plurality of manipulation buttons corresponding to a respective direction of a plurality of directions of movement of the distal end of the robot, wherein, based on selection of one or more manipulation buttons among the plurality of manipulation buttons on the display portion, the processor is configured to instruct the distal end of the robot to operate in the respective directions corresponding to the selected one or more manipulation buttons;
determine one or more directions in which the robot is not permitted to move based on a load that the robot is receiving from an object being maintained or increased;
display, on the display portion, a first manipulation button of the plurality of manipulation buttons corresponding to a first direction in which the robot is permitted to move and a second manipulation button of the plurality of manipulation buttons corresponding to a second direction in which the robot is not permitted to move, the first manipulation button comprising a first image displayed in a first display form, the second manipulation button comprising a second image displayed in a second display form different from the first display form, wherein the determined one or more directions in which the robot is not permitted to move includes the second direction and does not include the first direction; and
output a command to move the distal end of the robot in the first direction in response to a user's selection of the first manipulation button on the display portion.
22 . A manufacturing method for a product, the manufacturing method comprising:
manufacturing the product by using a robot system including a robot and a manipulation apparatus configured to manipulate the robot,
wherein the manipulation apparatus includes a processor configured to:
display a user interface image including a plurality of manipulation buttons on a display portion, each manipulation button of the plurality of manipulation buttons corresponding to a respective direction of a plurality of directions of movement of the distal end of the robot, wherein, based on selection of one or more manipulation buttons among the plurality of manipulation buttons on the display portion, the processor is configured to instruct the distal end of the robot to operate in the respective directions corresponding to the selected one or more manipulation buttons;
determine one or more directions in which the robot is not permitted to move based on a load that the robot is receiving from an object being maintained or increased;
display, on the display portion, a first manipulation button of the plurality of manipulation buttons corresponding to a first direction in which the robot is permitted to move and a second manipulation button of the plurality of manipulation buttons corresponding to a second direction in which the robot is not permitted to move, the first manipulation button comprising a first image displayed in a first display form, the second manipulation button comprising a second image displayed in a second display form different from the first display form, wherein the determined one or more directions in which the robot is not permitted to move includes the second direction and does not include the first direction; and
output a command to move the distal end of the robot in the first direction in response to a user's selection of the first manipulation button on the display portion.
23 . A control method for a manipulation apparatus configured to manipulate a robot, the control method comprising:
displaying a user interface image including a plurality of manipulation buttons on a display portion, each manipulation button of the plurality of manipulation buttons corresponding to a respective direction of a plurality of directions of movement of the distal end of the robot, wherein, based on selection of one or more manipulation buttons among the plurality of manipulation buttons on the display portion, the processor is configured to instruct the distal end of the robot to operate in the respective directions corresponding to the selected one or more manipulation buttons;
determining a direction one or more directions in which the robot is not permitted to move based on a load that the robot is receiving from an object being maintained or increased;
displaying, on the display portion, a first manipulation button of the plurality of manipulation buttons corresponding to a first direction in which the robot is permitted to move and a second manipulation button of the plurality of manipulation buttons corresponding to a second direction in which the robot is not permitted to move, the first manipulation button comprising a first image displayed in a first display form, the second manipulation button comprising a second image displayed in a second display form different from the first display form, wherein the determined one or more directions in which the robot is not permitted to move includes the second direction and does not include the first direction; and
outputting a command to move the distal end of the robot in the first direction in response to a user's selection of the first manipulation button on the display portion.
24 . A non-transitory computer-readable recording medium storing a control program for causing a computer to execute a control method for causing a computer to execute a control method for a manipulation apparatus configured to manipulate a robot, the control method comprising:
displaying a user interface image including a plurality of manipulation buttons on a display portion, each manipulation button of the plurality of manipulation buttons corresponding to a respective direction of a plurality of directions of movement of the distal end of the robot, wherein, based on selection of one or more manipulation buttons among the plurality of manipulation buttons on the display portion, the processor is configured to instruct the distal end of the robot to operate in the respective directions corresponding to the selected one or more manipulation buttons;
determining one or more directions in which the robot is not permitted to move based on a load that the robot is receiving from an object being maintained or increased;
displaying, on the display portion, a first manipulation button of the plurality of manipulation buttons corresponding to a first direction in which the robot is permitted to move and a second manipulation button of the plurality of manipulation buttons corresponding to a second direction in which the robot is not permitted to move, the first manipulation button comprising a first image displayed in a first display form, the second manipulation button comprising a second image displayed in a second display form different from the first display form, wherein the determined one or more directions in which the robot is not permitted to move includes the second direction and does not include the first direction; and
outputting a command to move the distal end of the robot in the first direction in response to a user's selection of the first manipulation button on the display portion.