Joy stick

Abstract

To provide a joy stick that allows a user to securely change by a single hand the attitude of a robot in the direction the user desires.SOLUTION: There is provided a joy stick 1 for allowing a user to change the attitude of a robot. The joy stick comprises a control unit 1B. When it is determined by a first attitude determination part 14 that a first attitude instruction part 13 is pressed by a user, the control unit instructs the robot to change the attitude in a first direction. Meanwhile, when it is determined by a second attitude determination part 16 that a second attitude instruction part 15 is pressed by the user, the control unit instructs the robot to change the attitude in a second direction. The first attitude instruction parts 13 and the second attitude instruction parts 15 are each arranged on the outer peripheral surface of the stick 11 of the joy stick 1, and arranged distributed in the circumferential direction of the stick 11.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to joysticks. [Background technology]

[0002] 2. Description of the Related Art Conventionally, operating devices for industrial robots have been used. Patent Document 1 discloses a joystick in which the outer circumferential surface of the stick is divided into first to third operation areas in the axial direction, and when an operation force for the second operation area of ​​the stick is applied in the X-axis direction of the stick, the joystick rotates the gripper around the Y-axis of the robot, and when the operation force is applied in the Y-axis direction of the stick, the joystick rotates the gripper around the X-axis of the robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2001-138276 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the joystick disclosed in Patent Document 1, the operator may move the robot in an unintended direction. In addition, Patent Document 1 suggests dividing the operation area in the circumferential direction of the rod, but does not disclose a specific configuration in that case.

[0005] The present disclosure has been made in consideration of the above-mentioned circumstances, and aims to provide a joystick that enables a user to reliably change the posture of a robot in the direction intended by the user, using one hand. [Means for solving the problem]

[0006] <1> A joystick according to aspect 1 of the present disclosure is a joystick for changing the posture of a robot, and comprises a first posture instruction unit, a second posture instruction unit, a first posture determination unit that determines whether the first posture instruction unit is pressed by a user, a second posture determination unit that determines whether the second posture instruction unit is pressed by a user, and a control unit that, if the first posture determination unit determines that the first posture instruction unit is pressed by the user, instructs the robot to change the posture in a first direction, and, if the second posture determination unit determines that the second posture instruction unit is pressed by the user, instructs the robot to change the posture in a second direction, and is characterized in that each of the first posture instruction unit and the second posture instruction unit are arranged on an outer circumferential surface of a stick of the joystick and are arranged in a distributed manner in the circumferential direction of the stick. Effect of the Invention

[0007] According to the present disclosure, it is possible to provide a joystick that enables a user to reliably change the posture of a robot in the direction intended by the user with one hand. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view of a robot operated by a joystick according to an embodiment. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. 13 is a modified perspective view of a joystick. [Figure 6] FIG. 2 is a diagram illustrating an example of a hardware configuration of a joystick. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a joystick according to an embodiment of the present disclosure will be described with reference to the drawings. The joystick according to this embodiment is used to change the attitude or position of the robot. The robot according to this embodiment is, for example, an industrial robot. The robot according to this embodiment operates on a two-dimensional coordinate system consisting of an X-axis and a Y-axis. The X-axis and the Y-axis may be a robot coordinate system with the robot origin as the coordinate origin, or may be a tool coordinate system with the end of the end effector as the coordinate origin. In this embodiment, the attitude of the robot refers to the angles around the X-axis and the Y-axis of the robot. The position of the robot refers to the distance from the origin on the X-axis and the Y-axis of the robot. That is, by operating the joystick according to this embodiment, the robot can change its posture so as to rotate around the X-axis and the Y-axis, and the robot can change its position so as to move along the X-axis and the Y-axis. The joystick according to this embodiment is used by the user to control each of the above-mentioned robot actions. That is, when the user operates the joystick, the robot rotates around the X-axis and the Y-axis, or moves parallel to the X-axis and the Y-axis. In this embodiment, the movement of a robot refers to, for example, the movement of the entire robot on a work site, or may refer to, for example, the movement of an end effector supported by a main body of a robot whose main body is fixed to the floor or the like of a work site.

[0010] (Joystick) FIG. 1 is a perspective view of a robot R that is operated by a joystick 1 according to an embodiment. FIG. 2 is a perspective view of the joystick 1. FIG. 3 is a front view of the joystick 1. FIG. 4 is a plan view of the joystick 1. As shown in Figures 2, 3, and 4, the joystick 1 includes a stick 11, a force sensor 12, a first attitude instruction unit 13, a first attitude determination unit 14, a second attitude instruction unit 15, a second attitude determination unit 16, a first position instruction unit 17, a first position determination unit 18, a second position instruction unit 19, a second position determination unit 1A, and a control unit 1B.

[0011] (stick) The stick 11 is a rod-shaped main body of the joystick 1. A user applies force to the stick 11 by pushing the stick 11 with a hand so as to tilt the stick 11. The joystick 1 detects this force and accepts it as information for appropriately operating the robot R. Specifically, when the user applies force to the stick 11, the joystick 1 operates the robot R in any one of a first direction D1, a second direction D2, a third direction D3, and a fourth direction D4 shown in FIG. 1 depending on which part of the stick 11 the user is pressing. Hereinafter, in this embodiment, the movement of the robot R refers to the movement of the tip e1 of the end effector E attached to the robot R as shown in Fig. 1. The end effector E is, for example, an end effector capable of lifting an object by air suction, magnetic force, a jig, or the like, or an end effector equipped with fingers capable of gripping an object. The robot R is equipped with a plurality of joints including a joint that rotates the end effector E. Furthermore, each of the plurality of joints is equipped with an actuator (not shown). The robot R is, for example, a six-axis vertical articulated serial link robot. That is, as shown in Fig. 1, the robot R is configured to include a support base R1 and an arm R2 supported by the support base R1 and equipped with a plurality of joints, and to perform operations with six degrees of freedom by operating actuators of the respective joints equipped in the arm R2. Note that the robot R may be configured to operate with five or fewer degrees of freedom, or may be configured to operate with seven or more degrees of freedom. The first direction D1 is along the direction around the X-axis of the robot R. The second direction D2 is along the direction around the Y-axis of the robot R. The third direction D3 is along the Y-axis direction of the robot R. The fourth direction D4 is along the X-axis direction of the robot R.

[0012] The stick 11 has a regular octagonal shape in a plan view. In this embodiment, the direction perpendicular to the longitudinal direction of the stick 11, i.e., the direction of the thickness of the stick 11, is referred to as the radial direction. Furthermore, the stick 11 has a step 11s at an arbitrary position in the longitudinal direction. That is, the stick 11 has two portions with different thicknesses in the longitudinal direction. In this embodiment, the thickness of the stick 11 on the side of the base 11r is greater than the thickness of the stick 11 on the side opposite the base 11r. In other words, stick 11 is an octagonal prism having two portions with different thicknesses. As a result, stick 11 has eight flat surfaces in two locations along the length of stick 11 along the circumferential direction of stick 11. In other words, stick 11 has a total of 16 flat surfaces along the circumferential direction of stick 11. In this case, the directions in which the eight flat surfaces each face are common in the two portions of stick 11 with different thicknesses. In this embodiment, among the radial directions of the stick 11, one of the directions in which a pair of planes facing each other face on the outer circumferential surface of the stick 11 is referred to as a first radial direction d1. Moreover, among the radial directions of the stick 11, the direction perpendicular to the first radial direction d1 is referred to as a second radial direction d2.

[0013] A base 11r of the stick 11 is attached to, for example, a control panel that controls the robot R. In this case, the user can remotely control the robot R, for example. Alternatively, the base 11r of the stick 11 may be attached directly to the robot R, for example. In this case, the user can operate the robot R as if he or she were moving it manually while standing beside the robot R. This type of configuration is particularly effective when performing direct teaching on the robot R, for example.

[0014] (Force sensor) The force sensor 12 is connected to the base 11r of the stick 11. The force sensor 12 detects the force of the user pushing the stick 11 (including the force of tilting) as a translational force and a force moment. For example, only one of the translational force and the force moment detected by the force sensor 12 may be used to control the robot R. Alternatively, for example, the attitude of the robot R may be controlled based on the translational force, and the position of the robot R may be controlled based on the force moment. Alternatively, the position of the robot R may be controlled based on the translational force, and the attitude of the robot R may be controlled based on the force moment. For example, the robot R may be controlled so that the speed at which the robot R is operated increases in proportion to the magnitude of the translational force and the force moment detected in this way.

[0015] (Changing the robot's posture and position) The joystick 1 according to this embodiment allows the user to change the attitude and position of the robot R by appropriately operating the stick 11. That is, the joystick 1 according to this embodiment detects, by the force sensor 12, that the user has pressed the stick 11, and also determines, by each component described below, which part of the stick 11 the user has pressed, thereby determining how to operate the robot R.

[0016] (Configuration related to changes in robot posture) First, a description will be given of the configuration of the joystick 1 related to a change in the posture of the robot R. A first posture instruction unit 13, a first posture determination unit 14, a second posture instruction unit 15, and a second posture determination unit 16 are involved in the change in the posture of the robot R.

[0017] (1st attitude instruction part) The first attitude instruction unit 13 is provided on a part of the outer circumferential surface of the stick 11. When the user presses the first attitude instruction unit 13 and applies a force to the stick 11 (for example, to tilt or tilt) along the first radial direction d1 toward the opposite side of the pressed first attitude instruction unit 13 across the central axis of the stick 11, the joystick 1 instructs the robot R to change the attitude of the robot R to the first direction D1. In other words, the first attitude instruction unit 13 is a portion of the stick 11 that the user presses when changing the attitude of the robot R to the first direction D1.

[0018] The first attitude instruction unit 13 is disposed on the outer circumferential surface of the stick 11 and is disposed distributed in the circumferential direction of the stick 11. The position of the first attitude instruction unit 13 in the circumferential direction of the stick 11 corresponds to the point of force applied by the user. In other words, the direction in which the user applies force to the stick 11 to change the attitude of the robot R corresponds to the direction in which the user wants to change the attitude of the robot R. Therefore, the position of the first attitude instruction unit 13 corresponding to the point of force applied by the user means that the position of the first attitude instruction unit 13 corresponds to the direction in which the user wants to change the attitude of the robot R, as seen from the user. Specifically, the first attitude instruction unit 13 is disposed as follows. That is, the first attitude instruction unit 13 includes a first attitude instruction plane 13s. The first attitude instruction plane 13s is a portion of the stick 11 that comes into contact with the user. The first attitude instruction plane 13s is perpendicular to the first radial direction d1 of the stick 11. That is, the first attitude instruction plane 13s is a pair of planes facing the first radial direction d1 among the eight planes included in the stick 11 as described above. When the user tries to change the attitude of the robot R to the first direction D1, for example, the user holds the first attitude instruction plane 13s, which is a pair of planes facing the first radial direction d1, in a pinching manner with the hands and applies a force.

[0019] The above-described first attitude instruction unit 13 allows the user to perform the following operations. That is, for example, when the user is trying to change the attitude of the robot R to one side of the first direction D1, the user may press one surface of the pair of first attitude instruction planes 13s. For example, when the user is trying to change the attitude of the robot R to the other side of the first direction D1, the user may press the other surface of the pair of first attitude instruction planes 13s.

[0020] (First posture determination section) The first attitude determination unit 14 determines whether the first attitude instruction unit 13 is pressed by the user. Alternatively, the first attitude determination unit 14 may determine whether the user has touched the first attitude instruction unit 13. The first attitude determination unit 14 is, for example, a sensor provided on the first attitude instruction plane 13s. For example, a known pressure sensor or touch sensor is preferably used for the first attitude determination unit 14. In this way, it is determined whether the user is pressing the first attitude instruction unit 13 when pressing the stick 11.

[0021] (Second posture instruction section) The second attitude instruction unit 15 is provided on a part of the outer circumferential surface of the stick 11. When the user presses the second attitude instruction unit 15, the joystick 1 instructs the robot R to change the attitude of the robot R in the second direction D2. In other words, the second attitude instruction unit 15 is a portion of the stick 11 that the user presses when changing the attitude of the robot R in the second direction D2.

[0022] The second attitude instruction units 15 are disposed on the outer circumferential surface of the stick 11 and are disposed in a distributed manner in the circumferential direction of the stick 11. The positions of the second attitude instruction units 15 in the circumferential direction of the stick 11 correspond to the points of force applied by the user. Specifically, the second attitude instruction units 15 are disposed as follows. That is, the second attitude instruction unit 15 includes a second attitude instruction plane 15s. The second attitude instruction plane 15s is a portion of the stick 11 that comes into contact with the user. The second attitude instruction plane 15s is perpendicular to the second radial direction d2 of the stick 11. That is, the second attitude instruction plane 15s is a pair of planes facing the second radial direction d2 among the eight planes included in the stick 11 as described above. When the user tries to change the attitude of the robot R in the second direction D2, for example, the user applies force by gripping the second attitude instruction plane 15s, which is a pair of planes facing the second radial direction d2, in a pinching manner with the hands.

[0023] The above-described second attitude instruction unit 15 allows the user to perform the following operations. That is, for example, when the user is trying to change the attitude of the robot R to one side in the second direction D2, the user may press one surface of the pair of second attitude instruction planes 15s. For example, when the user is trying to change the attitude of the robot R to the other side in the second direction D2, the user may press the other surface of the pair of second attitude instruction planes 15s.

[0024] (Second attitude determination section) The second attitude determination unit 16 determines whether the second attitude instruction unit 15 is pressed by the user. Alternatively, the second attitude determination unit 16 may determine whether the user has contacted the second attitude instruction unit 15. The second attitude determination unit 16 is, for example, a sensor provided on the second attitude instruction plane 15s. For example, a known pressure sensor or touch sensor is preferably used for the second attitude determination unit 16. In this way, it is determined whether the user is pressing the second attitude instruction unit 15 when pressing the stick 11.

[0025] (Features of the first attitude control unit and the second attitude control unit) In this embodiment, the first attitude instructing unit 13 and the second attitude instructing unit 15 are different in color. That is, the portion of the outer circumferential surface of the stick 11 that corresponds to the first attitude instructing unit 13 and the portion that corresponds to the second attitude instructing unit 15 are painted in different colors. This allows the user to easily distinguish between the first attitude instructing unit 13 and the second attitude instructing unit 15 by visual inspection.

[0026] In this embodiment, the position of the first attitude indication unit 13 and the position of the second attitude indication unit 15 are substantially the same in the longitudinal direction of the stick 11. Furthermore, in this embodiment, the portion of the stick 11 where the first attitude indication unit 13 and the second attitude indication unit 15 are arranged is thinner than the portion of the stick 11 where the first position indication unit 17 and the second position indication unit 19 are arranged. Here, as described above, stick 11 is an octagonal prism having two portions with different thicknesses, and has eight flat surfaces, two at each end along the circumferential direction of stick 11. Also, the thickness of stick 11 on the side of base 11r is greater than the thickness of the side opposite base 11r of stick 11. In other words, the thickness of stick 11 on the side opposite base 11r is smaller than the thickness of stick 11 on the side of base 11r. Therefore, in this embodiment, the first attitude instruction unit 13 and the second attitude instruction unit 15 are provided on the side opposite the base 11r of the stick 11, in a portion thinner than the base 11r side of the stick 11. Note that the position of the first attitude instruction unit 13 and the position of the second attitude instruction unit 15 being substantially the same in the longitudinal direction of the stick 11 means that the first attitude instruction unit 13 and the second attitude instruction unit 15 are provided in portions of the stick 11 that are the same thickness.

[0027] As described above, the first attitude instruction unit 13 and the second attitude instruction unit 15 are disposed on the outer circumferential surface of the stick 11 and are distributed in the circumferential direction of the stick 11. That is, the first attitude instruction plane 13s of the first attitude instruction unit 13 faces the first radial direction d1, and the second attitude instruction plane 15s of the second attitude instruction unit 15 faces the second radial direction d2. Since the stick 11 is shaped like an octagonal prism, the stick 11 has four planes that face neither the first radial direction d1 nor the second radial direction d2, two of which are located along the longitudinal direction. In this embodiment, it is preferable that the four planes located between the first attitude instruction unit 13 and the second attitude instruction unit 15 in the circumferential direction of the stick 11, that is, the four planes that do not face either the first radial direction d1 or the second radial direction d2 in the octagonal prism-shaped stick 11, are dead zones 11d. The dead zones 11d are portions that do not determine whether or not the user has touched them. When the user presses the dead zone 11d, the joystick 1 does not issue an instruction to change the attitude of the robot R, for example. By providing the dead zone 11d having such characteristics between the first attitude instruction unit 13 and the second attitude instruction unit 15, the first attitude instruction unit 13 and the second attitude instruction unit 15 are arranged so as not to come into contact with each other. This makes it preferable that, for example, the user can be prevented from pressing the stick 11 while touching both the first attitude instruction unit 13 and the second attitude instruction unit 15 at the same time.

[0028] (Configuration related to changes in the position of robot R) Next, a description will be given of the configuration of the joystick 1 related to a change in the position of the robot R. The change in the position of the robot R involves a first position indication unit 17, a first position determination unit 18, a second position indication unit 19, and a second position determination unit 1A.

[0029] (1st position indicator) The first position indication unit 17 is provided on a part of the outer circumferential surface of the stick 11. When the user presses the first position indication unit 17, the joystick 1 instructs the robot R to change the position of the robot R in the third direction D3. In other words, the first position indication unit 17 is a portion of the stick 11 that the user presses when changing the position of the robot R in the third direction D3.

[0030] First position indication units 17 are disposed on the outer circumferential surface of stick 11 and are distributed in the circumferential direction of stick 11. The positions of first position indication units 17 in the circumferential direction of stick 11 correspond to the points of force applied by the user. Specifically, first position indication units 17 are disposed as follows. That is, the first position indication section 17 includes a first position indication plane 17s. The first position indication plane 17s is a portion of the stick 11 that comes into contact with the user. The first position indication plane 17s is perpendicular to the first radial direction d1 of the stick 11. That is, the first position indication plane 17s is a pair of planes that face the first radial direction d1 among the eight planes that the stick 11 has as described above. Thus, in this embodiment, the position of the first attitude indicating unit 13 in the circumferential direction of the stick 11 is substantially the same as the position of the first position indicating unit 17 when viewed along the longitudinal direction of the stick 11. When the user attempts to change the position of the robot R in the third direction D3, the user, for example, grasps the first position indication plane 17s, which is a pair of planes facing the first radial direction d1, in a pinching motion with the hands and applies force.

[0031] The above-described first position indication unit 17 allows the user to perform the following operations. That is, for example, when trying to change the position of the robot R to one side in the third direction D3, the user may press one surface of the pair of first position indication planes 17s. For example, when trying to change the position of the robot R to the other side in the third direction D3, the user may press the other surface of the pair of first position indication planes 17s.

[0032] (1st position determination section) The first position determination unit 18 determines whether the first position indication unit 17 is pressed by the user. Alternatively, the first position determination unit 18 may determine whether the user has touched the first position indication unit 17. The first position determination unit 18 is, for example, a sensor provided on the first position indication plane 17s. For example, a known pressure sensor or touch sensor is preferably used for the first position determination unit 18. In this way, it is determined whether the user is pressing the first position indication unit 17 when pressing the stick 11.

[0033] (Second position indicator) The second position indication unit 19 is provided on a part of the outer circumferential surface of the stick 11. When the user presses the second position indication unit 19, the joystick 1 instructs the robot R to change the position of the robot R in the fourth direction D4. In other words, the second position indication unit 19 is a portion of the stick 11 that the user presses when changing the position of the robot R in the fourth direction D4.

[0034] Second position indication units 19 are disposed on the outer circumferential surface of stick 11 and are distributed in the circumferential direction of stick 11. The positions of second position indication units 19 in the circumferential direction of stick 11 correspond to the points of force applied by the user. Specifically, second position indication units 19 are disposed as follows. That is, the second position indication section 19 includes a second position indication plane 19s. The second position indication plane 19s is a portion of the stick 11 that comes into contact with the user. The second position indication plane 19s is perpendicular to the second radial direction d2 of the stick 11. That is, the second position indication plane 19s is a pair of planes that face the second radial direction d2, among the eight planes that the stick 11 has as described above. Thus, in this embodiment, the position of the second attitude indicating unit 15 in the circumferential direction of the stick 11 is substantially the same as the position of the second position indicating unit 19 when viewed along the longitudinal direction of the stick 11. When the user attempts to change the position of the robot R in the fourth direction D4, the user, for example, grasps the second position indication planes 19s, which are a pair of planes facing the second radial direction d2, in a pinching motion with the hands and applies force.

[0035] The above-described second position indication unit 19 allows the user to perform the following operations. That is, for example, when trying to change the position of the robot R to one side in the fourth direction D4, the user may press one surface of the pair of second position indication planes 19s. For example, when trying to change the position of the robot R to the other side in the fourth direction D4, the user may press the other surface of the pair of second position indication planes 19s.

[0036] (Second position determination section) The second position determination unit 1A determines whether the second position indication unit 19 is pressed by the user. Alternatively, the second position determination unit 1A may determine whether the user has touched the second position indication unit 19. The second position determination unit 1A is, for example, a sensor provided on the second position indication plane 19s. For example, a known pressure sensor or touch sensor is preferably used for the second position determination unit 1A. In this way, it is determined whether the user is pressing the second position indication unit 19 when pressing the stick 11.

[0037] (Features of the first position indication unit and the second position indication unit) In this embodiment, the first position indication portion 17 and the second position indication portion 19 are different in color. That is, the portion of the outer circumferential surface of the stick 11 corresponding to the first position indication portion 17 and the portion corresponding to the second position indication portion 19 are painted in different colors. Note that, in this embodiment, it is more preferable that the first posture indication portion 13, the second posture indication portion 15, the first position indication portion 17, and the second position indication portion 19 are different in color from each other. This more preferably allows the user to easily distinguish the first posture indication portion 13, the second posture indication portion 15, the first position indication portion 17, and the second position indication portion 19 by visual inspection.

[0038] In this embodiment, the position of the first position indication unit 17 and the position of the second position indication unit 19 are substantially the same in the longitudinal direction of the stick 11. In addition, in this embodiment, the first position indication unit 17 and the second position indication unit 19 are disposed between the first attitude indication unit 13 and the second attitude indication unit 15 and the base 11r of the stick 11. As described above, stick 11 is an octagonal prism having two portions with different thicknesses, and has eight flat surfaces, two at each end along the circumferential direction of stick 11. Also, the thickness of stick 11 on the side of base 11r is greater than the thickness of stick 11 on the side opposite base 11r. Therefore, in this embodiment, the first position indication unit 17 and the second position indication unit 19 are provided on the base 11r side of the stick 11, in a portion that is thicker than the side opposite the base 11r of the stick 11. Note that the position of the first position indication unit 17 and the position of the second position indication unit 19 being substantially the same in the longitudinal direction of the stick 11 means that the first position indication unit 17 and the second position indication unit 19 are provided in portions of the stick 11 that are the same thickness.

[0039] As described above, the first position indication portion 17 and the second position indication portion 19 are disposed on the outer circumferential surface of the stick 11 and are distributed in the circumferential direction of the stick 11. That is, the first position indication plane 17s of the first position indication portion 17 faces the first radial direction d1, and the second position indication plane 19s of the second position indication portion 19 faces the second radial direction d2. In this case, since the stick 11 is shaped like an octagonal prism, the four planes that face neither the first radial direction d1 nor the second radial direction d2 are located in two places along the longitudinal direction of the stick 11. In this embodiment, it is preferable that the four planes located between the first position indication section 17 and the second position indication section 19 in the circumferential direction of the stick 11, that is, the four planes that do not face either the first radial direction d1 or the second radial direction d2 in the octagonal prism-shaped stick 11, are dead zones 11d. The dead zones 11d are portions that do not determine whether or not the user has touched them. When the user presses the dead zone 11d, the joystick 1 does not issue an instruction to change the position of the robot R, for example. By providing the dead zone 11d having such characteristics between the first position indication section 17 and the second position indication section 19, the first position indication section 17 and the second position indication section 19 are arranged so as not to come into contact with each other. This makes it preferable that, for example, the user can be prevented from pressing the stick 11 while touching both the first position indication section 17 and the second position indication section 19 at the same time.

[0040] (Control unit) The control unit 1B receives the operation of the stick 11 by the user and instructs the robot R to perform various operations. That is, the control unit 1B instructs the robot R to change its attitude in the first direction D1 and the second direction D2, and to change its position in the third direction D3 and the fourth direction D4. Specifically, the control unit 1B causes the robot R to move in a direction according to the user's operation in response to the user pressing any of the attitude instruction units and position instruction units described above.

[0041] As described above, the joystick 1 according to this embodiment includes the force sensor 12. Therefore, when the user presses the stick 11, the force sensor 12 detects the translational force and the force moment. In this embodiment, the above-mentioned attitude instruction units and position instruction units determine whether or not they are being pressed by the user in response to the force sensor 12 detecting the translational force and the force moment caused by the user pressing the stick 11. This prevents the robot R from operating against the user's will when, for example, the user unintentionally touches the above-mentioned attitude instruction units and position instruction units. An instruction given by the control unit 1B to the robot R based on the operation of the stick 11 by the user will be exemplified below.

[0042] When the first attitude determination unit 14 determines that the first attitude instruction unit 13 is pushed by the user, the control unit 1B instructs the robot R to change the attitude of the robot R to the first direction D1. As a result, when the user pushes the first attitude instruction unit 13 of the stick 11, the attitude of the robot R changes to the first direction D1. Specifically, for example, when the user presses one of the first attitude instruction units 13 provided on the stick 11, the attitude of the robot R changes to one side of the first direction D1. Also, when the user presses the other first attitude instruction unit 13 provided on the stick 11, the attitude of the robot R changes to the other side of the first direction D1.

[0043] When the second attitude determination unit 16 determines that the second attitude instruction unit 15 is pushed by the user, the control unit 1B instructs the robot R to change the attitude of the robot R to the second direction D2. As a result, when the user pushes the second attitude instruction unit 15 of the stick 11, the attitude of the robot R changes to the second direction D2. Specifically, for example, when the user presses one of the second attitude instruction units 15 provided on the stick 11, the attitude of the robot R changes to one side of the second direction D2. Also, when the user presses the other of the second attitude instruction units 15 provided on the stick 11, the attitude of the robot R changes to the other side of the second direction D2.

[0044] When the first position determination unit 18 determines that the first position indication unit 17 is pressed by the user, the control unit 1B instructs the robot R to change the position of the robot R to the third direction D3. As a result, when the user presses the first position indication unit 17 of the stick 11, the position of the robot R changes to the third direction D3. Specifically, for example, when the user presses one of the first position indication units 17 provided on the stick 11, the position of the robot R changes to one side of the third direction D3. Also, when the user presses the other first position indication unit 17 provided on the stick 11, the position of the robot R changes to the other side of the third direction D3.

[0045] When the second position determination unit 1A determines that the second position indication unit 19 is pressed by the user, the control unit 1B instructs the robot R to change the position of the robot R to the fourth direction D4. As a result, when the user presses the second position indication unit 19 of the stick 11, the position of the robot R changes to the fourth direction D4. Specifically, for example, when the user presses one of the second position indication units 19 provided on the stick 11, the position of the robot R changes to one side of the fourth direction D4. Also, when the user presses the other of the second position indication units 19 provided on the stick 11, the position of the robot R changes to the other side of the fourth direction D4.

[0046] When the first attitude determination unit 14 determines that the first attitude instruction unit 13 is pushed by the user and the first position determination unit 18 determines that the first position instruction unit 17 is pushed by the user, the control unit 1B instructs the robot R to change its attitude to the first direction D1 and its position to the third direction D3. As a result, when the user simultaneously presses the first attitude instruction unit 13 and the first position instruction unit 17 of the stick 11, the attitude of the robot R changes to the first direction D1 and the position of the robot R changes to the third direction D3.

[0047] When the second attitude determination unit 16 determines that the second attitude indication unit 15 is being pushed by the user and the second position determination unit 1A determines that the second position indication unit 19 is being pushed by the user, the control unit 1B instructs the robot R to change its attitude to the second direction D2 and its position to the fourth direction D4. As a result, when the user presses the second attitude indication portion 15 and the second position indication portion 19 of the stick 11 simultaneously, the attitude of the robot R changes to the second direction D2 and the position of the robot R changes to the fourth direction D4.

[0048] In the above manner, the control unit 1B issues instructions to the robot R. In the above description, the user presses each of the instruction units provided on the stick 11, but the instructions may be issued based on whether the user touches each of the instruction units. This is also true in the second embodiment described below.

[0049] As described above, according to the joystick 1 of this embodiment, when it is determined that the first attitude instruction unit 13 is pressed by the user, the control unit 1B instructs the robot R to change the attitude to the first direction D1. Also, when it is determined that the second attitude instruction unit 15 is pressed by the user, the control unit 1B instructs the robot R to change the attitude to the second direction D2. This allows the user to operate the attitude of the robot R in the first direction D1 or the second direction D2 by pressing the first attitude instruction unit 13 or the second attitude instruction unit 15 of the stick 11. Therefore, the user can reliably change the attitude of the robot R in the intended direction using one joystick 1 with one hand. The first attitude instruction unit 13 and the second attitude instruction unit 15 are each disposed on the outer circumferential surface of the stick 11 of the joystick 1, and are disposed in a distributed manner in the circumferential direction of the stick 11. This makes it easier to dispose the first attitude instruction unit 13 and the second attitude instruction unit 15 at positions corresponding to the direction in which the user applies force when operating the joystick 1 to change the attitude of the robot R in each of the first direction D1 and the second direction D2. When the first attitude instruction unit 13 and the second attitude instruction unit 15 are disposed in this manner, the user can more intuitively operate the attitude of the robot R using the joystick 1.

[0050] The first attitude instruction unit 13 also includes a first attitude instruction plane 13s. The first attitude instruction plane 13s comes into contact with the user. The first attitude instruction plane 13s is perpendicular to a first radial direction d1 of the stick 11. The second attitude instruction unit 15 also includes a second attitude instruction plane 15s. The second attitude instruction plane 15s comes into contact with the user. The second attitude instruction plane 15s is perpendicular to a second radial direction d2 of the stick 11. In this way, by making the part that the user touches flat and perpendicular to the radial direction of the stick 11, the stick 11 can be shaped so that the user can easily place his / her fingers on it. This makes it easier for the user to apply force to the stick 11 to control the attitude of the robot R. Also, for example, the first radial direction d1 and the second radial direction d2 of the stick 11 can be easily arranged in directions corresponding to the first direction D1 and the second direction D2 of the robot R. When the first radial direction d1 and the second radial direction d2 of the stick 11 are arranged in this manner, the user can more intuitively control the posture of the robot R using the joystick 1.

[0051] Furthermore, when it is determined that the first position indication unit 17 is pressed by the user, the control unit 1B instructs the robot R to change the position of the robot R to the third direction D3. Furthermore, when it is determined that the second position indication unit 19 is pressed by the user, the control unit 1B instructs the robot R to change the position to the fourth direction D4. This allows the user to operate the position of the robot R in the third direction D3 or the fourth direction D4 by pressing the first position indication unit 17 or the second position indication unit 19 of the stick 11. Therefore, the user can reliably change the position of the robot R to the intended direction with one hand using one joystick 1.

[0052] The first position indication unit 17 and the second position indication unit 19 are each disposed on the outer circumferential surface of the stick 11 of the joystick 1, and are disposed in a distributed manner in the circumferential direction of the stick 11. This makes it easier to dispose the first position indication unit 17 and the second position indication unit 19 at positions corresponding to the direction in which the user applies force when operating the joystick 1 to change the position of the robot R in each of the third direction D3 and the fourth direction D4. When the first position indication unit 17 and the second position indication unit 19 are disposed in this manner, the user can more intuitively operate the position of the robot R using the joystick 1.

[0053] Here, in the joystick 1, a force sensor 12 that detects the force moment caused by the user pressing the stick 11 may be provided at the base 11r of the stick 11. Therefore, the first position indication unit 17 and the second position indication unit 19 are disposed between the first attitude indication unit 13 and the second attitude indication unit 15 and the base 11r of the stick 11. This makes it easier to dispose the first attitude indication unit 13 and the second attitude indication unit 15 at a position relatively far from the base 11r of the stick 11. This makes it possible to apply the force moment to the stick 11 required to control the attitude of the robot R with a relatively light force. Therefore, the user can control the attitude of the robot R with a relatively light force. Therefore, it is easier for the user to control the attitude of the robot R.

[0054] The first position indication unit 17 also includes a first position indication plane 17s. The first position indication plane 17s comes into contact with the user. The first position indication plane 17s is perpendicular to a first radial direction d1 of the stick 11. The second position indication unit 19 also includes a second position indication plane 19s. The second position indication plane 19s comes into contact with the user. The second position indication plane 19s is perpendicular to a second radial direction d2 of the stick 11. In this way, by making the part that the user touches flat and perpendicular to the radial direction of the stick 11, the stick 11 can be shaped so that the user can easily place his / her fingers on it. This makes it easier for the user to apply force to the stick 11 to control the position of the robot R. Also, for example, the first radial direction d1 and the second radial direction d2 of the stick 11 can be easily arranged in directions corresponding to the first direction D1 and the second direction D2, or the third direction D3 and the fourth direction D4, respectively, of the robot R. When the first radial direction d1 and the second radial direction d2 of the stick 11 are arranged in this manner, the user can operate the attitude or position of the robot R using the joystick 1 more intuitively. As described above, the first attitude indication plane 13s is perpendicular to the first radial direction d1 of the stick 11, and the second attitude indication plane 15s is perpendicular to the second radial direction d2 of the stick 11. That is, the first attitude indication plane 13s and the first position indication plane 17s are positioned parallel to each other, and the second attitude indication plane 15s and the second position indication plane 19s are positioned parallel to each other. This enables the user to easily switch, for example, from manipulating the attitude of the robot R to manipulating its position without looking at the joystick 1.

[0055] Furthermore, the portion of the stick 11 where the first attitude indication unit 13 and the second attitude indication unit 15 are arranged is thinner than the portion where the first position indication unit 17 and the second position indication unit 19 are arranged. This makes it easier for the user to grasp the portion of the stick 11 where the first attitude indication unit 13 and the second attitude indication unit 15 are arranged. That is, for example, the user can grasp the portion of the stick 11 where the first attitude indication unit 13 and the second attitude indication unit 15 are arranged by pinching it between the thumb and index finger.

[0056] Moreover, the first direction D1 is along the direction around the X-axis of the robot R. The second direction D2 is along the direction around the Y-axis of the robot R. The third direction D3 is along the Y-axis direction of the robot R. The fourth direction D4 is along the X-axis direction of the robot R. In this way, by appropriately corresponding the directions of the joystick 1 to the coordinates of the robot R, the user can more intuitively control the posture and position of the robot R. The position of the first attitude instruction unit 13 in the circumferential direction of the stick 11 is approximately the same as the first position instruction unit 17 when viewed along the longitudinal direction of the stick 11. The position of the second attitude instruction unit 15 in the circumferential direction of the stick 11 is approximately the same as the second position instruction unit 19 when viewed along the longitudinal direction of the stick 11. This enables the user to easily switch, for example, from operating the attitude of the robot R to operating the position of the robot R without looking at the joystick 1.

[0057] Furthermore, when it is determined that the first attitude instruction unit 13 is pushed by the user and the first position instruction unit 17 is pushed by the user, the control unit 1B instructs the robot R to change its attitude to the first direction D1 and its position to the third direction D3. Furthermore, when it is determined that the second attitude instruction unit 15 is pushed by the user and the second position instruction unit 19 is pushed by the user, the control unit 1B instructs the robot R to change its attitude to the second direction D2 and its position to the fourth direction D4. That is, when the user presses the first attitude indication unit 13 and the first position indication unit 17 simultaneously, the robot R changes its attitude in the first direction D1 and its position in the third direction D3 simultaneously. Also, when the user presses the second attitude indication unit 15 and the second position indication unit 19 simultaneously, the robot R changes its attitude in the second direction D2 and its position in the fourth direction D4 simultaneously. In this way, by making it possible to change the attitude and position of the robot R simultaneously, it is possible to easily adjust the attitude and position of the robot R in a short time.

[0058] In addition, a force sensor 12 is connected to the base 11r of the stick 11. This allows the force sensor 12 to detect the force with which the user presses the stick 11 as a translational force and a force moment. Therefore, for example, the magnitude of the force when the user presses any of the first attitude instruction unit 13, the second attitude instruction unit 15, the first position instruction unit 17, or the second position instruction unit 19 can be detected by one force sensor 12. Therefore, the joystick 1 can be configured more simply than when a device for detecting the force with which the user presses the stick 11 is provided for each of the instruction units described above.

[0059] Furthermore, the first attitude instruction unit 13 and the second attitude instruction unit 15 have different colors, which allows the user to easily distinguish between the first attitude instruction unit 13 and the second attitude instruction unit 15 by visual inspection.

[0060] Furthermore, the positions of the first attitude instruction unit 13 and the second attitude instruction unit 15 in the circumferential direction of the stick 11 correspond to the point of force applied by the user. This allows the user to more intuitively control the attitude of the robot R. In other words, the positions of the first attitude instruction unit 13 and the second attitude instruction unit 15 correspond to the direction in which the user wants to change the attitude of the robot R, making it easier for the user to intuitively apply force to the stick 11.

[0061] Second embodiment Next, a joystick 1 according to a second embodiment of the present disclosure will be described. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and their description will be omitted, with only the differences being described. The joystick 1 according to the second embodiment differs from the first embodiment in that the instructions for the operation of the robot R given by the control unit 1B are as follows.

[0062] In the second embodiment, when the first attitude determination unit 14 determines that the first attitude indication unit 13 is being pushed by the user and the first position determination unit 18 determines that the first position indication unit 17 is being pushed by the user, the control unit 1B instructs the robot R to change its attitude to the first direction D1. In addition, in the second embodiment, when the second attitude determination unit 16 determines that the second attitude indication unit 15 is being pushed by the user and the second position determination unit 1A determines that the second position indication unit 19 is being pushed by the user, the control unit 1B instructs the robot R to change its attitude to the second direction D2. That is, when the user simultaneously presses the first attitude instruction unit 13 and the first position instruction unit 17, or when the user simultaneously presses the second attitude instruction unit 15 and the second position instruction unit 19, the control unit 1B gives priority to changing only the attitude of the robot R. Note that in the second embodiment, the control unit 1B may instruct the robot R to subsequently change the position of the robot R after the change in the attitude of the robot R is completed.

[0063] As described above, according to the joystick 1 of the second embodiment, when it is determined that the first attitude instruction unit 13 is pressed by the user and the first position instruction unit 17 is pressed by the user, the control unit 1B instructs the robot R to change its attitude to the first direction D1. When it is determined that the second attitude instruction unit 15 is pressed by the user and the second position instruction unit 19 is pressed by the user, the control unit 1B instructs the robot R to change its attitude to the second direction D2. That is, when the user presses the first attitude indication unit 13 and the first position indication unit 17 simultaneously, the robot R only changes its attitude in the first direction D1. When the user presses the second attitude indication unit 15 and the second position indication unit 19 simultaneously, the robot R only changes its attitude in the second direction D2. This makes it possible to prevent the position from being changed by mistake when the user only wants to change the attitude of the robot R.

[0064] Third embodiment Next, a joystick 1 according to a third embodiment of the present disclosure will be described. In the third embodiment, the same components as those in the first and second embodiments are denoted by the same reference numerals, and their description will be omitted, with only the differences being described. The joystick 1 according to the third embodiment differs from the first and second embodiments in that the instructions for the operation of the robot R given by the control unit 1B are as follows.

[0065] In the third embodiment, when the first attitude determination unit 14 determines that the first attitude indication unit 13 is pressed by the user and the first position determination unit 18 determines that the first position indication unit 17 is pressed by the user, the control unit 1B instructs the robot R to change its position to the third direction D3. In addition, in the third embodiment, when the second attitude determination unit 16 determines that the second attitude indication unit 15 is pressed by the user and the second position determination unit 1A determines that the second position indication unit 19 is pressed by the user, the control unit 1B instructs the robot R to change its position to the fourth direction D4. That is, when the user simultaneously presses the first attitude instruction unit 13 and the first position instruction unit 17, or when the user simultaneously presses the second attitude instruction unit 15 and the second position instruction unit 19, the control unit 1B gives priority to changing only the position of the robot R. Note that in the second embodiment, the control unit 1B may instruct the robot R to subsequently change the attitude of the robot R after the change in the position of the robot R is completed.

[0066] As described above, according to the joystick 1 of the third embodiment, when it is determined that the first attitude instruction unit 13 is pressed by the user and the first position instruction unit 17 is pressed by the user, the control unit 1B instructs the robot R to change its position to the third direction D3. When it is determined that the second attitude instruction unit 15 is pressed by the user and the second position instruction unit 19 is pressed by the user, the control unit 1B instructs the robot R to change its position to the fourth direction D4. That is, when the user presses the first attitude instruction unit 13 and the first position instruction unit 17 simultaneously, the robot R only changes its position in the third direction D3. When the user presses the second attitude instruction unit 15 and the second position instruction unit 19 simultaneously, the robot R only changes its position in the fourth direction D4. This makes it possible to prevent the user from accidentally changing the attitude of the robot R when he or she wishes to change only its position. This embodiment is particularly effective when the joystick 1 is arranged such that the base 11r is located on the upper side and the first attitude instruction unit 13 and the second attitude instruction unit 15 are located on the lower side.

[0067] (Fourth embodiment) Next, a joystick 1 according to a fourth embodiment of the present disclosure will be described with reference to FIG. In the fourth embodiment, the same components as those in the first to third embodiments are denoted by the same reference numerals, and their description will be omitted, with only the differences being described. FIG. 5 is a perspective view of a modified example of the joystick 1. In FIG.

[0068] In the fourth embodiment, the joystick 1 is used to change the first posture of the first robot and the second posture of the second robot. That is, the joystick 1 according to the fourth embodiment enables the user to control the postures of two robots by operating one stick 11. That is, the joystick 1 according to the fourth embodiment further comprises a dual attitude instruction section 1C and a dual attitude determination section 1D, in addition to the components of the joystick 1 according to the first embodiment, as shown in FIG.

[0069] (Both attitude control units) Both attitude instruction units 1C are disposed at the end of the stick 11, on the opposite side to the base 11r of the stick 11. This allows the user to operate the joystick 1 with one hand by pressing both attitude instruction units 1C with the thumb and pressing the stick 11 with the other fingers or the palm. In the fourth embodiment, when the user presses the both-posture instruction unit 1C, the joystick 1 instructs the first robot and the second robot to simultaneously change the first posture of the eleventh robot and the second posture of the second robot. That is, the both-posture instruction unit 1C is a portion of the stick 11 that the user presses when attempting to simultaneously change the first posture of the first robot and the second posture of the second robot.

[0070] (Both posture determination parts) The both-side posture determination unit 1D determines whether the both-side posture instruction unit 1C is pressed by the user. Alternatively, the both-side posture determination unit 1D may determine whether the user touches the both-side posture instruction unit 1C. For example, a known pressure sensor or touch sensor is preferably used for the both-side posture determination unit 1D. Alternatively, a switch button may be used for the both-side posture determination unit 1D. In the fourth embodiment, the control unit 1B instructs the robot to operate as follows, in response to the joystick 1 including both attitude instruction units 1C and both attitude determination units 1D.

[0071] For example, in the fourth embodiment, when the both-pose determining unit 1D determines that the both-pose instructing unit 1C is pressed by the user, the control unit 1B instructs the first robot and the second robot as follows. That is, when first posture determination unit 14 determines that first posture instruction unit 13 is pushed by the user, control unit 1B instructs the robots to change the first posture of the first robot and the second posture of the second robot to the first direction D1. When second posture determination unit 16 determines that second posture instruction unit 15 is pushed by the user, control unit 1B instructs the robots to change the first posture of the first robot and the second posture of the second robot to the second direction D2.

[0072] Furthermore, in the fourth embodiment, when the both-position determining unit 1D determines that the both-position instructing unit 1C is not pressed by the user, the control unit 1B instructs the first robot as follows. That is, when the first posture determination unit 14 determines that the first posture instruction unit 13 is being pushed by the user, the control unit 1B instructs the first robot to change the first posture of the first robot to the first direction D1, and when the second posture determination unit 16 determines that the second posture instruction unit 15 is being pushed by the user, the control unit 1B instructs the first robot to change the first posture of the first robot to the second direction D2.

[0073] That is, when the user presses both posture instruction units 1C, control unit 1B changes the postures of the first robot and the second robot simultaneously in response to the user's operation of stick 11. On the other hand, when the user does not press both posture instruction units 1C, control unit 1B changes only the posture of the first robot in response to the user's operation of stick 11. The fourth embodiment differs from the first to third embodiments in that the control unit 1B issues the instructions as described above. Note that in the fourth embodiment, the contents of various instructions to the robots may be the same as those of any of the first to third embodiments, except that the postures of the first and second robots can be changed simultaneously by providing a dual posture instruction unit 1C.

[0074] As described above, according to the joystick 1 according to the fourth embodiment, when it is determined that the both posture instruction units 1C are pressed by the user, the control unit 1B instructs the first robot and the second robot to change the first posture of the first robot and the second posture of the second robot to the first direction D1 when it is determined that the first posture instruction unit 13 is pressed by the user, and instructs the first robot and the second robot to change the first posture of the first robot and the second posture of the second robot to the second direction D2 when it is determined that the second posture instruction unit 15 is pressed by the user. Then, when it is determined that the both posture instruction units 1C are not pressed by the user by the both posture determination unit 1D, the control unit 1B instructs the first robot to change the first posture of the first robot to the first direction D1 when it is determined that the first posture instruction unit 13 is pressed by the user, and instructs the first robot to change the first posture of the first robot to the second direction D2 when it is determined that the second posture instruction unit 15 is pressed by the user. That is, when the user presses both posture instruction units 1C, the first posture of the first robot and the second posture of the second robot are simultaneously changed by the user's operation of the joystick 1. On the other hand, when the user does not press both posture instruction units 1C, only the first posture of the first robot is changed by the user's operation of the joystick 1. This makes it possible to simultaneously operate the postures of multiple robots with one joystick 1 as necessary. Both attitude instruction units 1C are disposed at the end of the stick 11, on the opposite side to the base 11r of the stick 11. This allows the user to operate the joystick 1 with one hand, for example, by pressing both attitude instruction units 1C with the thumb and pressing the first attitude instruction unit 13 or the second attitude instruction unit 15 with the other fingers or the palm.

[0075] Fifth embodiment Next, a joystick 1 according to a fifth embodiment of the present disclosure will be described with reference to FIG. In the fifth embodiment, the same components as those in the first to fourth embodiments are denoted by the same reference numerals, and their description will be omitted, with only the differences being described.

[0076] In the fifth embodiment, the joystick 1 is used to change the first position of the first robot and the second position of the second robot. That is, the joystick 1 according to the fifth embodiment enables the user to control the positions of two robots by operating one stick 11. That is, the joystick 1 according to the fifth embodiment further comprises a dual-position indication section 1E and a dual-position determination section 1F, in addition to the components of the joystick 1 according to the first embodiment, as shown in FIG.

[0077] (Both position indicators) The bidirectional position indicator 1E is disposed at the end of the stick 11, on the opposite side to the base 11r of the stick 11. This allows the user to operate the joystick 1 with one hand by pressing the bidirectional position indicator 1E with the thumb and pressing the stick 11 with the other fingers or the palm. In the fifth embodiment, when the user presses the both-position indication unit 1E, the joystick 1 instructs the first robot and the second robot to simultaneously change the first position of the first robot and the second position of the second robot. That is, the both-position indication unit 1E is a portion of the stick 11 that the user presses when attempting to simultaneously change the first position of the first robot and the second position of the second robot.

[0078] (Both position determination parts) The both-position determining section 1F determines whether or not the both-position indicating section 1E is pressed by the user. Alternatively, the both-side position determination unit 1F may determine whether or not the user has touched the both-side position indication unit 1E. For example, a known pressure sensor or touch sensor is preferably used for the both-side position determination unit 1F. Alternatively, a switch button may be used for the both-side position determination unit 1F. In the fifth embodiment, the control unit 1B instructs the robot to perform an operation as follows, in response to the joystick 1 including the dual position indication unit 1E and dual position determination unit 1F.

[0079] For example, in the fifth embodiment, when the both-position determination unit 1F determines that the both-position indication unit 1E will be pressed by the user, the control unit 1B instructs the first robot and the second robot as follows. That is, when the first position determination unit 18 determines that the first position indication unit 17 will be pressed by the user, the control unit 1B instructs the robots to change the first position of the first robot and the second position of the second robot to the third direction D3. When the second position determination unit 1A determines that the second position indication unit 19 will be pressed by the user, the control unit 1B instructs the robots to change the first position of the first robot and the second position of the second robot to the fourth direction D4.

[0080] Furthermore, in the fifth embodiment, when both position determination unit 1F determines that both position indication unit 1E will not be pressed by the user, control unit 1B instructs the first robot as follows: That is, when first position determination unit 18 determines that first position indication unit 17 will be pressed by the user, control unit 1B instructs the first robot to change the first position of the first robot to the third direction D3, and when second position determination unit 1A determines that second position indication unit 19 will be pressed by the user, control unit 1B instructs the first robot to change the first position of the first robot to the fourth direction D4.

[0081] That is, when the user presses both position indication units 1E, control unit 1B changes the positions of the first robot and the second robot simultaneously in response to the user's operation of stick 11. On the other hand, when the user does not press both position indication units 1E, control unit 1B changes only the position of the first robot in response to the user's operation of stick 11. The fifth embodiment differs from the first to third embodiments in that the control unit 1B issues the instructions as described above. Note that in the fifth embodiment, the contents of various instructions to the robots may be the same as those of any of the first to third embodiments, except that the positions of the first robot and the second robot can be changed simultaneously by providing a dual position instruction unit 1E.

[0082] As described above, according to the joystick 1 according to the fifth embodiment, when it is determined that the both position indication units 1E are pressed by the user, if it is determined that the first position indication unit 17 is pressed by the user, the control unit 1B instructs the first robot and the second robot to change the first position of the first robot and the second position of the second robot to the third direction D3, and when it is determined that the second position indication unit 19 is pressed by the user, the control unit 1B instructs the first robot and the second robot to change the first position of the first robot and the second position of the second robot to the fourth direction D4. Then, when it is determined that the both position indication units 1E are not pressed by the user by the both position determination unit 1F, if it is determined that the first position indication unit 17 is pressed by the user, the control unit 1B instructs the first robot to change the first position of the first robot to the third direction D3, and when it is determined that the second position indication unit 19 is pressed by the user, the control unit 1B instructs the first robot to change the first position of the first robot to the fourth direction D4. That is, when the user presses both position indication units 1E, the first position of the first robot and the second position of the second robot are simultaneously changed by the user's operation of the joystick 1. On the other hand, when the user does not press both position indication units 1E, only the first position of the first robot is changed by the user's operation of the joystick 1. This makes it possible to simultaneously operate the positions of multiple robots with one joystick 1 as necessary. The two-position indicator 1E is disposed at an end of the stick 11, on the opposite side to the base 11r of the stick 11. This allows the user to operate the joystick 1 with one hand, for example, by pressing the two-position indicator 1E with the thumb and pressing the first position indicator 17 or the second position indicator 19 with the other fingers or the palm.

[0083] (Joystick hardware configuration) 6 is a diagram showing an example of the hardware configuration of the joystick 1 of the embodiment. The joystick 1 includes a control device C including a processor P such as a CPU (Central Processing Unit) and a memory M connected by a bus, and executes a robot control program. The robot control program is a program that controls the operation of each functional unit of the joystick 1. The joystick 1 according to this embodiment functions as a control unit 1B by the control device C executing the robot control program. In other words, the control device C has a function of reflecting the operation of the stick 11 by the user in the operation of the robot.

[0084] More specifically, the joystick 1 causes the processor P to read out a robot control program stored in the memory unit L and store the read robot control program in the memory M. The processor P executes the robot control program stored in the memory M, thereby enabling the joystick 1 to control the movement of the robot.

[0085] The storage unit L is configured using a non-transitory computer-readable storage medium device such as a magnetic hard disk device or a semiconductor storage device. The storage unit L stores various information related to the joystick 1. The storage unit L stores, for example, a robot control program in advance.

[0086] All or part of the functions of the control device C in the joystick 1 may be realized using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The program may be recorded on a computer-readable recording medium. Examples of computer-readable recording media include portable media such as flexible disks, magneto-optical disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into computer systems. The program may be transmitted via an electric communication line.

[0087] The technical scope of the present disclosure is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present disclosure. For example, although the robot in this embodiment has been described as operating on a two-dimensional coordinate system consisting of the X-axis and the Y-axis, this is not limiting. That is, the joystick 1 according to this embodiment may be used to operate a robot that operates on a three-dimensional coordinate system consisting of the Z-axis in addition to the X-axis and the Y-axis. In this case, instead of the dead zone 11d described as being provided in the stick 11 in the above-mentioned embodiment, a posture instruction unit or a position instruction unit for instructing the robot's operation in the Z-axis direction may be provided. Alternatively, the posture instruction unit or the position instruction unit for instructing the operation in the Z-axis direction may be provided in a step portion formed in the stick 11. Furthermore, the thickness of the stick 11 on the side of the base 11r may be thinner than the thickness of the stick 11 on the side opposite the base 11r. Also, although the stick 11 has been described as having 16 flat surfaces along the circumferential direction of the stick 11, each of these flat surfaces may be a curved surface. Furthermore, the joystick 1 may have a tilting section instead of the force sensor 12. That is, instead of detecting the magnitude of the translational force and the force moment applied to the stick 11, the amount of tilt of the stick 11 may be detected to obtain information used for controlling the robot R. In this case, for example, control may be performed such that the speed at which the robot R is operated is increased in proportion to the amount of tilt of the tilting section. Furthermore, when the user presses the first attitude instruction unit 13 and the first position instruction unit 17 simultaneously, or when the user presses the second attitude instruction unit 15 and the second position instruction unit 19 simultaneously, the user may be able to appropriately select whether to give priority to changing either the attitude or the position of the robot R while the joystick 1 is in use. To enable the selection, for example, the stick 11 may be provided with a changeover switch (not shown) for making the selection. Both the posture indication unit 1C and the position indication unit 1E may be disposed on the end of the stick 11 opposite to the base 11r of the stick 11. In this case, it is preferable that the posture indication unit 1C and the position indication unit 1E are disposed on the end of the stick 11 so as to be aligned horizontally or vertically.

[0088] In addition, within the scope of the present disclosure, the components in the above-described embodiments may be replaced with well-known components as appropriate, and the above-described modified examples may be combined as appropriate. [Explanation of symbols]

[0089] 1 Joystick 11. Stick 11d Dead zone 11r Base 11s Step 12 Force sensor 13 1st posture instruction section 13s 1st posture instruction plane 14 First posture determination section 15 2nd posture instruction section 15s 2nd posture instruction plane 16 Second posture determination unit 17 1st position indicator 17s 1st position indication plane 18. First position determination unit 19 Second position indicator 19s 2nd position indication plane 1A Second position determination unit 1B Control Department 1C Both-side posture indication unit 1D side posture judgment part 1E Side position indication part 1F Side position judgment part d1 1st radial direction d2 Second radial direction D1 1st direction D2 2nd direction D3 3rd direction D4 4th direction

Claims

1. A joystick for changing the posture of a robot, A first attitude instruction unit; A second attitude instruction unit; a first attitude determination unit that determines whether or not the first attitude instruction unit is pressed by a user; a second attitude determination unit that determines whether or not the second attitude instruction unit is pressed by a user; a control unit that instructs the robot to change the posture in a first direction when the first posture determination unit determines that the first posture instruction unit is pushed by a user, and instructs the robot to change the posture in a second direction when the second posture determination unit determines that the second posture instruction unit is pushed by a user; Equipped with The first attitude instruction unit and the second attitude instruction unit are each disposed on an outer circumferential surface of a stick of the joystick, and are disposed in a distributed manner in a circumferential direction of the stick. A joystick characterized by:

2. the first attitude instruction unit includes a first attitude instruction plane that is in contact with a user and is perpendicular to a first radial direction of the stick; The second attitude instruction unit includes a second attitude instruction plane that is in contact with a user and is perpendicular to a second radial direction of the stick.

2. The joystick of claim 1 .

3. A first position indication unit; A second position indicator; a first position determination unit that determines whether the first position indication unit is pressed by a user; a second position determination unit that determines whether the second position indication unit is pressed by a user; Further comprising: the control unit instructs the robot to change a position of the robot in a third direction when the first position determination unit determines that the first position indication unit is pushed by a user, and instructs the robot to change the position in a fourth direction when the second position determination unit determines that the second position indication unit is pushed by a user; the first position indication unit and the second position indication unit are disposed between the first attitude indication unit and a base of the stick, and the second attitude indication unit and a base of the stick, the first position indication portion and the second position indication portion are disposed on an outer circumferential surface of the stick and are disposed in a distributed manner in a circumferential direction of the stick; 2. The joystick according to claim 1 .

4. the first attitude instruction unit includes a first attitude instruction plane that is in contact with a user and is perpendicular to a first radial direction of the stick; the second attitude instruction unit includes a second attitude instruction plane that is in contact with a user and is perpendicular to a second radial direction of the stick; the first position indication unit includes a first position indication plane that is in contact with a user and perpendicular to the first radial direction; The second position indication unit includes a second position indication plane that is in contact with a user and is perpendicular to the second radial direction.

4. A joystick as claimed in claim 3.

5. a portion of the stick where the first attitude indication unit and the second attitude indication unit are arranged is thinner than a portion of the stick where the first position indication unit and the second position indication unit are arranged; 4. A joystick as claimed in claim 3.

6. the first direction is along a direction about an X-axis of the robot; The second direction is along a direction around a Y axis of the robot, the third direction is along a Y-axis direction of the robot; the fourth direction is along the X-axis direction of the robot; a position of the first attitude indication part in a circumferential direction of the stick is substantially the same as a position of the first position indication part when viewed along a longitudinal direction of the stick, A position of the second attitude indication part in the circumferential direction of the stick is substantially the same as a position of the second position indication part when viewed along the longitudinal direction of the stick.

4. A joystick as claimed in claim 3.

7. the control unit instructs the robot to change the posture in a first direction and the position in a third direction when the first posture determination unit determines that the first posture instruction unit is pushed by a user and the first position determination unit determines that the first position instruction unit is pushed by a user, and instructs the robot to change the posture in a second direction and the position in a fourth direction when the second posture determination unit determines that the second posture instruction unit is pushed by a user and the second position determination unit determines that the second position instruction unit is pushed by a user.

7. A joystick as claimed in claim 6.

8. A joystick for changing the posture and position of a robot, A first attitude instruction unit; A second attitude instruction unit; a first attitude determination unit that determines whether or not the first attitude instruction unit is pressed by a user; a second attitude determination unit that determines whether or not the second attitude instruction unit is pressed by a user; A first position indication unit; A second position indicator; a first position determination unit that determines whether the first position indication unit is pressed by a user; a second position determination unit that determines whether the second position indication unit is pressed by a user; a control unit that instructs the robot to change the posture in a first direction when the first posture determination unit determines that the first posture instruction unit is pushed by a user and the first position determination unit determines that the first position instruction unit is pushed by a user, and instructs the robot to change the posture in a second direction when the second posture determination unit determines that the second posture instruction unit is pushed by a user and the second position determination unit determines that the second position instruction unit is pushed by a user; Equipped with the first attitude instruction unit and the second attitude instruction unit are disposed on an outer circumferential surface of a stick of the joystick and are disposed in a distributed manner in a circumferential direction of the stick, the first position indication unit and the second position indication unit are disposed between the first attitude indication unit and a base of the stick, and the second attitude indication unit and a base of the stick, the first position indication portion and the second position indication portion are disposed on the outer circumferential surface and are disposed in a distributed manner in the circumferential direction; A joystick characterized by:

9. A joystick for changing the posture and position of a robot, A first attitude instruction unit; A second attitude instruction unit; a first attitude determination unit that determines whether or not the first attitude instruction unit is pressed by a user; a second attitude determination unit that determines whether or not the second attitude instruction unit is pressed by a user; A first position indication unit; A second position indicator; a first position determination unit that determines whether the first position indication unit is pressed by a user; a second position determination unit that determines whether the second position indication unit is pressed by a user; a control unit that instructs the robot to change the position in a third direction when the first attitude determination unit determines that the first attitude instruction unit is pushed by a user and the first position determination unit determines that the first position instruction unit is pushed by a user, and instructs the robot to change the position in a fourth direction when the second attitude determination unit determines that the second attitude instruction unit is pushed by a user and the second position determination unit determines that the second position instruction unit is pushed by a user; Equipped with the first attitude instruction unit and the second attitude instruction unit are disposed on an outer circumferential surface of a stick of the joystick and are disposed in a distributed manner in a circumferential direction of the stick, the first position indication unit and the second position indication unit are disposed between the first attitude indication unit and a base of the stick, and the second attitude indication unit and a base of the stick, the first position indication portion and the second position indication portion are disposed on the outer circumferential surface and are disposed in a distributed manner in the circumferential direction; A joystick characterized by:

10. A joystick for changing a first posture of a first robot and a second posture of a second robot, A first attitude instruction unit; A second attitude instruction unit; a first attitude determination unit that determines whether or not the first attitude instruction unit is pressed by a user; a second attitude determination unit that determines whether or not the second attitude instruction unit is pressed by a user; Both attitude control units, a dual-position determination unit that determines whether the dual-position instruction unit is pressed by a user; a control unit that, when it is determined by the both posture determination unit that the both posture instruction units will be pushed by a user, instructs the first robot and the second robot to change the first posture and the second posture in a first direction if it is determined by the first posture determination unit that the first posture instruction unit will be pushed by the user, instructs the first robot and the second robot to change the first posture and the second posture in a second direction if it is determined by the second posture determination unit that the second posture instruction unit will be pushed by the user, when it is determined by the both posture determination unit that the both posture instruction units will not be pushed by the user, instructs the first robot to change the first posture in a first direction if it is determined by the first posture determination unit that the first posture instruction unit will be pushed by the user, and instructs the first robot to change the first posture in a second direction if it is determined by the second posture determination unit that the second posture instruction unit will be pushed by the user; Equipped with the first attitude instruction unit and the second attitude instruction unit are disposed on an outer circumferential surface of a stick of the joystick and are disposed in a distributed manner in a circumferential direction of the stick, The two attitude instruction units are disposed at the ends of the stick, on the opposite side to the base of the stick. A joystick characterized by:

11. A joystick for changing a first position of a first robot and a second position of a second robot, A first position indication unit; A second position indicator; a first position determination unit that determines whether the first position indication unit is pressed by a user; a second position determination unit that determines whether the second position indication unit is pressed by a user; Both position indicators, a both-side position determination unit that determines whether the both-side position indication unit is pressed by a user; a control unit that, when it is determined by the both-position determination unit that the both-position indication unit will be pressed by a user, instructs the first robot and the second robot to change the first position and the second position to a third direction if it is determined by the first position determination unit that the first position indication unit will be pressed by the user, instructs the first robot and the second robot to change the first position and the second position to a fourth direction if it is determined by the second position determination unit that the second position indication unit will be pressed by the user, instructs the first robot and the second robot to change the first position to a third direction if it is determined by the first position determination unit that the first position indication unit will be pressed by the user, and instructs the first robot to change the first position to a fourth direction if it is determined by the second position determination unit that the second position indication unit will be pressed by the user; Equipped with the first position indication unit and the second position indication unit are disposed on an outer circumferential surface of a stick of the joystick and are disposed in a distributed manner in a circumferential direction of the stick, The two-position indication unit is disposed at an end of the stick, the end opposite to the base of the stick. A joystick characterized by:

12. A force sensor is connected to the base of the stick. A joystick according to any one of the preceding claims.

13. The first attitude instruction section and the second attitude instruction section have different colors. A joystick according to any one of the preceding claims.

14. a position of the first attitude instruction unit and a position of the second attitude instruction unit in a circumferential direction of the stick correspond to a point of force to which a force is applied by a user; A joystick according to any one of the preceding claims.

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