Joystick system

Abstract

It provides a joystick system with high operability. [Solution] A joystick system 100 for instructing a change in the position of a robot R in a predetermined plane, comprising: a stick 20 whose base is fixed to an operation panel or the robot R; a detection sensor provided at the base and which detects the moment and / or translational force of the force input to the stick 20; and a plane position change mode selection unit 22 which, when contacted by a user U, selects a plane position change mode for instructing a change in the position of the robot R in a predetermined plane, wherein the plane position change mode selection unit 22 is provided on the base side of the stick 20 and transmits a signal to instruct a change in the plane position change mode according to the result of detection by the detection sensor.

Description

Technical Field

[0001] The present invention relates to a joystick system.

Background Art

[0002] As a means for operating a robot, operation by a joystick-type controller is used. In Patent Document 1, a device for selectively commanding the position or speed of the hand part of a manipulator is disclosed. In this device, the joystick is operated so as to be tilted. In Patent Document 2, a device for controlling a plurality of operating systems is disclosed. The joystick of this device is provided with a plurality of operation areas. This device detects which operation area an operating force is exerted on among the plurality of operation areas. This device also detects the magnitude of the operating force and the like that is exerted. This device obtains a control signal to the operating system based on the detected operating position, operating force, and the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conventional joystick system, there is room for improvement in improving the operability.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a joystick system with high operability.

Means for Solving the Problems

[0006] To solve the aforementioned problems, the present invention proposes the following means. The joystick system according to the present invention is a joystick system for instructing a change in the posture of a robot, comprising: a stick; a sensor provided on one end of the stick; and a posture change mode selection unit that selects a posture change mode for instructing a change in the posture of the robot when touched by a user, wherein the posture change mode selection unit is provided on the other end of the stick.

[0007] According to this invention, the sensor is located on one end of the stick. The posture change mode selection unit is located on the other end of the stick. As a result, the force applied by the user to the stick while in contact with the posture change mode selection unit is transmitted to the sensor as a force moment around the sensor. Therefore, the sensor can detect this force moment and process it as an instruction to change the robot's posture. Thus, for example, when a user wants to tilt the robot's posture, they can instruct the robot to change its posture by applying force to tilt the stick.

[0008] By positioning the sensor and attitude change mode selection unit at both ends of the stick, a sufficient distance can be provided between the sensor and the attitude change mode selection unit. Therefore, the force moment around the sensor can be efficiently generated with less force. Consequently, the joystick system can be operated with less force.

[0009] Furthermore, the system may include a plane position change mode selection unit that, when touched by a user, selects a plane position change mode for instructing a change in the robot's position on a predetermined plane, and the plane position change mode selection unit may be provided on one end of the stick.

[0010] According to this invention, the in-plane position change mode selection unit is provided on one end of the stick. In other words, the in-plane position change mode selection unit is positioned closer to the sensor on the stick than the attitude change mode selection unit. As a result, the force applied by the user to the stick while in contact with the in-plane position change mode selection unit is transmitted to the sensor as a horizontal force. Therefore, the sensor can detect this horizontal force and process it as an instruction to change the robot's position. Thus, for example, when a user wants to move the robot's position in the translational direction, they can instruct the robot to change its position by applying force to push the stick in the translational direction.

[0011] Furthermore, the in-plane position change mode selection unit includes a first in-plane position change mode selection unit and a second in-plane position change mode selection unit, wherein the first in-plane position change mode selection unit and the second in-plane position change mode selection unit are arranged in the order of the first in-plane position change mode selection unit and the second in-plane position change mode selection unit from the sensor side, and the first in-plane position change mode selection unit may be larger than the second in-plane position change mode selection unit when viewed along the longitudinal direction of the stick.

[0012] According to this invention, the in-plane position change mode selection unit is arranged in the order of a first in-plane position change mode selection unit and a second in-plane position change mode selection unit from the sensor side. In other words, the distance between the second in-plane position change mode selection unit and the posture change mode selection unit is shorter than the distance between the first in-plane position change mode selection unit and the posture change mode selection unit. As a result, the user can smoothly move their hand between the second in-plane position change mode selection unit and the posture change mode selection unit. Therefore, when the robot's position is changed using the second in-plane position change mode selection unit, the robot's posture change and position change can be switched more efficiently compared to when using the first in-plane position change mode selection unit.

[0013] The first in-plane position change mode selection section is larger than the second in-plane position change mode selection section when viewed along the longitudinal direction of the stick. This makes it easier for the user to apply horizontal force to the first in-plane position change mode selection section than to the second in-plane position change mode selection section.

[0014] Incidentally, in order to transmit horizontal force to the sensor, it is preferable to shorten the distance between the part where the force is applied and the sensor, thereby reducing the generation of a moment due to the horizontal force. Here, the distance between the first in-plane position change mode selection unit and the sensor is shorter than the distance between the second in-plane position change mode selection unit and the sensor. Therefore, when force is applied to the stick from the first in-plane position change mode selection unit, the horizontal force can be transmitted to the sensor efficiently with less force compared to when force is applied to the stick from the second in-plane position change mode selection unit. Thus, for example, even when the user's force is relatively small, the robot's position can be easily changed.

[0015] Furthermore, the system may further include a vertical position change mode selection unit that, when touched by the user, selects a vertical position change mode for instructing a change in the robot's position in a direction perpendicular to the predetermined plane, wherein the vertical position change mode selection unit is provided in the portion of the stick between the posture change mode selection unit and the in-plane position change mode selection unit.

[0016] Here, the posture change mode selection unit is preferably located far from the sensor in order to efficiently transmit the force moment to the sensor. The in-plane position change mode selection unit is preferably located close to the sensor in order to transmit the horizontal force to the sensor. Furthermore, the vertical position change mode selection unit is preferably positioned in a location where the user can grip it with all of their fingers in order to easily apply force in the axial direction of the stick.

[0017] The vertical position change mode selection unit is located on the stick portion, specifically in the area between the posture change mode selection unit and the in-plane position change mode selection unit. This allows the vertical position change mode selection unit to be positioned on the stick while maintaining the preferred arrangement described above. Furthermore, if the vertical position change mode selection unit is located at either end of the stick, the user will not be able to grip it with their entire hand. As a result, one of the fingers may slip off the stick. By positioning the vertical position change mode selection unit at the aforementioned location (a location other than the end of the stick), the user can more easily grip the vertical position change mode selection unit with their entire hand. This makes it easier to operate the robot using the vertical position change mode selection unit.

[0018] Furthermore, the vertical position change mode selection unit may be characterized by having protrusions on both one end and the other end.

[0019] According to this invention, protrusions are provided on both one end and the other end of the vertical position change mode selection unit. This allows the user to hook their fingers onto the protrusions when operating the vertical position change mode selection unit. Therefore, it becomes easier to operate the robot using the vertical position change mode selection unit.

[0020] The robot may also further include a dial panel, wherein an attachment is provided on the robot, the attachment moves along a direction perpendicular to the predetermined plane, the dial panel is used to instruct a change in the position of the attachment in a direction perpendicular to the predetermined plane, and the dial panel is provided near the vertical position change mode selection unit.

[0021] According to this invention, the dial is used to indicate a change in position in a direction perpendicular to a predetermined plane at the position of the attachment. Thereby, the operation of the posture and position of the robot by the stick and the operation of the attachment by the dial can be performed simultaneously.

[0022] Here, the position of the attachment in the direction perpendicular to the predetermined plane (hereinafter referred to as the vertical direction position) is determined not only by the vertical direction position of the attachment itself but also by the vertical direction position of the robot. Therefore, in order to adjust the vertical direction position of the attachment, it is necessary not only to instruct a change in the vertical direction position of the attachment but also to instruct a change in the vertical direction position of the robot. In contrast, the dial is provided near the vertical direction position change mode selection unit. Thereby, the user can simultaneously operate the vertical direction position change mode selection unit of the stick and the dial with one hand. Thus, it is possible to facilitate the user to adjust the vertical direction position of the tip of the attachment.

[0023] Further, the dial may be provided at a position reachable by the thumb of the user's hand when the user holds the stick.

[0024] According to this invention, the dial is provided at a position reachable by the thumb of the user's hand when the user holds the stick. Thereby, the user can operate the dial with only the thumb without releasing the hand from the stick. Thus, it is possible to more easily perform the operations of the robot and the attachment simultaneously.

[0025] Furthermore, it further includes a position and orientation change mode selection unit that selects a position and orientation change mode for instructing changes in both the position and orientation of the robot when contacted by the user, and the position and orientation change mode selection unit is provided at a portion of the stick between the orientation change mode selection unit and the vertical direction position change mode selection unit.

[0026] According to this invention, the position and orientation change mode selection unit is provided in the part of the stick that is located between the orientation change mode selection unit and the vertical position change mode selection unit. In other words, the position and orientation change mode selection unit is located on the other end of the stick, rather than the vertical position change mode selection unit. This allows the distance between the position and orientation change mode selection unit and the sensor to be sufficient to generate a force moment around the sensor when force is applied to the position and orientation change mode selection unit. Therefore, by applying force from the position and orientation change mode selection unit to tilt the stick, a force moment around the sensor can be generated. Thus, the robot's orientation can be changed by the position and orientation change mode selection unit.

[0027] Furthermore, the position and orientation change mode selection unit is located closer to the sensor on the stick than the orientation change mode selection unit. This makes it easier to transmit horizontal force to the sensor when a horizontal force is applied to the position and orientation change mode selection unit. Therefore, the robot's position can be changed using the position and orientation change mode selection unit.

[0028] Thus, by positioning the position and orientation change mode selection unit in the aforementioned location, the robot's orientation and position can be changed solely by using the position and orientation change mode selection unit. This configuration offers significant advantages when precision is not required when changing the robot's orientation and position. Specifically, for example, when simply trying to approach an object before performing detailed positioning relative to the object, the robot can be easily moved.

[0029] Furthermore, each of the attitude change mode selection unit, the in-plane position change mode selection unit, the vertical position change mode selection unit, and the position and attitude change mode selection unit may be characterized by including a touch sensor.

[0030] According to this invention, each of the posture change mode selection unit, the in-plane position change mode selection unit, the vertical position change mode selection unit, and the position and posture change mode selection unit includes a touch sensor. As a result, the user can select each of the above modes simply by touching the touch sensor. Therefore, the user can select each mode without requiring complex operations.

[0031] Here, sensors (for example, force sensors) generally process applied translational force or force moment as analog values. In other words, sensors do not have an ON / OFF concept. Therefore, depending on the setting of the threshold values ​​for translational force or force moment, it may cause the joystick system to malfunction. In contrast, by using a touch sensor, the switching between each mode can be reliably performed. That is, the enabling and disabling of input to the sensor can be reliably switched. Thus, robot operation using a joystick system can be made safer.

[0032] Furthermore, the system may also include a button provided at the other end of the stick, wherein the amount by which the robot's position and orientation are changed by operating the stick differs depending on whether the button is pressed or not.

[0033] According to this invention, the amount by which the robot's position and orientation are changed by the operation of the stick differs depending on whether or not a button is pressed. For example, if pressing a button increases the amount by which the robot's position and orientation are changed, the robot's movement speed can be increased by manipulating the stick. Therefore, the robot can approach the target object more quickly. For example, if pressing a button reduces the amount by which the robot's position and orientation are changed, the robot's movement speed can be slowed down by operating the stick. This makes it easier to perform more precise positioning of the robot. In either case, after bringing the robot closer to the object with the movement speed increased (either by pressing the button or not), it becomes easier to perform more precise positioning of the robot, either by pressing the button or not, while the movement speed is decreased.

[0034] Furthermore, a second aspect of the joystick system according to the present invention is a joystick system for instructing both the position and orientation of a robot, comprising: a stick; a sensor provided on the stick; an orientation change mode selection unit provided on the stick that selects an orientation change mode for instructing a change in the orientation of the robot when touched by a user; an in-plane position change mode selection unit provided on the stick that selects an in-plane position change mode for instructing a change in the position of the robot in a predetermined plane when touched by a user; and a control provided on the stick that controls the position of the robot The robot comprises a vertical position change mode selection unit that selects a vertical position change mode for instructing a change in position in a direction perpendicular to the predetermined plane when contacted by a user, and an attachment provided on the robot that moves along a direction perpendicular to the predetermined plane, wherein the sensor is provided at a predetermined position on the attachment, and the sensor, the attitude change mode selection unit, the in-plane position change mode selection unit, and the vertical position change mode selection unit are arranged in the order of the sensor, the in-plane position change mode selection unit, the vertical position change mode selection unit, and the attitude change mode selection unit from the predetermined position.

[0035] According to this invention, the sensor is provided at a predetermined position on the attachment. In other words, the stick on which the sensor is provided is attached to the attachment provided on the robot. Therefore, when the robot and attachment are moved by manipulating the stick, the stick moves accordingly. Thus, the user can operate the robot using the stick as if they were directly moving it manually. This makes the operation of the robot more intuitive.

[0036] Furthermore, a third aspect of the joystick system according to the present invention is a joystick system for instructing both the position and orientation of a robot, comprising: a stick including a first part, a second part, and a third part; a sensor provided on the stick; an orientation change mode selection unit provided on the stick that, when touched by a user, selects an orientation change mode for instructing a change in the orientation of the robot; an in-plane position change mode selection unit provided on the stick that, when touched by a user, selects an in-plane position change mode for instructing a change in the position of the robot in a predetermined plane; a vertical position change mode selection unit provided on the stick that, when touched by a user, selects a vertical position change mode for instructing a change in the position of the robot in a direction perpendicular to the predetermined plane; and a setting unit that associates each of the orientation change mode selection unit, the in-plane position change mode selection unit, and the vertical position change mode selection unit with each of the first part, the second part, and the third part.

[0037] According to this invention, a setting unit is provided that associates each of the posture change mode selection unit, the in-plane position change mode selection unit, and the vertical position change mode selection unit with each of the first, second, and third parts. This allows the setting unit to select whether to place each of the above-mentioned mode selection units in the first, second, or third part. In other words, by providing a setting unit, the arrangement of each selection unit can be improved according to the shape of the stick and the shape of the robot. Therefore, the selection of each of the above-mentioned modes using the stick can be made more easily tailored to the user's needs. Thus, the convenience of the joystick system can be improved. [Effects of the Invention]

[0038] According to the present invention, a joystick system with high operability can be provided. [Brief explanation of the drawing]

[0039] [Figure 1] This is a schematic diagram of the joystick system according to the present invention. [Figure 2] This is a block diagram illustrating the relationship between joystick systems, robots, and attachments. [Figure 3] This diagram visualizes the force applied to the stick and the part of the stick to which the force is applied. [Figure 4] This is a schematic diagram illustrating how a user operates a joystick system manually. [Figure 5] This is a variation of the joystick system. [Modes for carrying out the invention]

[0040] (First Embodiment) A joystick system 100 according to one embodiment of the present invention will be described below with reference to the drawings. The joystick system 100 according to this embodiment can be used, for example, to remotely control a robot R. Robot R is, for example, a six-axis vertical articulated robot. That is, it is equipped with an arm, and the tip of the arm can be moved in the direction of three axes in a three-dimensional Cartesian coordinate system, or rotated around each of the three axes as the center of rotation. In this embodiment, attachment A is attached to the tip of the arm of robot R.

[0041] Attachment A is, for example, a part that directly touches the object O. Attachment A is moved to the vicinity of the object O by the arm of the robot R. Attachment A moves along a direction perpendicular to a predetermined plane. In the first embodiment, the predetermined plane is a plane perpendicular to the axial direction of the tip of the arm in a relative coordinate system with the tip of the arm of the robot R as the origin. In other words, attachment A moves along the axial direction of the tip of the arm. Specifically, for example, attachment A moves such that one end is attached to the robot R and the other end extends and retracts. In other words, in this embodiment, attachment A is capable of moving in one axial direction. As a result, attachment A approaches and contacts the object O.

[0042] (Regarding Joystick System 100) The joystick system 100 according to this embodiment is used, for example, to instruct a change in the posture of robot R. Here, the posture of attachment A refers to the rotation angle of attachment A with each axis of the three-dimensional Cartesian coordinate system as the rotation center. The joystick system 100 may also be used to instruct a change in the position of robot R in a predetermined plane. The joystick system 100 may also be used to instruct a change in the position of robot R in a direction perpendicular to the predetermined plane. The joystick system 100 may also be used to instruct a change in the posture of attachment A, a change in the position of attachment A, and movement of attachment A along a direction perpendicular to the predetermined plane.

[0043] (Regarding the control modes of the joystick system 100) The joystick system 100 includes, as control modes for operating the robot R, an attitude change mode, a plane position change mode, a vertical position change mode, and a position and attitude change mode. In the joystick system 100, while any of the above control modes are selected, other control modes are controlled to be inoperable, for example. In the joystick system 100, while any of the above control modes are selected, other control modes may be controlled to be operational simultaneously.

[0044] The posture change mode is a control mode for instructing a change in the posture of robot R. Specifically, the posture change mode is a mode for instructing a change in the posture of attachment A. The in-plane position change mode is a control mode for instructing a change in the position of robot R within a predetermined plane. Specifically, the in-plane position change mode is a mode for instructing a change in the position of attachment A within a predetermined plane.

[0045] The vertical position change mode is a control mode for instructing a change in the position of robot R in a direction perpendicular to a predetermined plane. Specifically, the vertical position change mode is a mode for instructing a change in the position of attachment A in a direction perpendicular to a predetermined plane. The position and orientation change mode is a control mode for instructing changes to both the position and orientation of robot R. Specifically, the position and orientation mode is a mode for instructing changes to both the position and orientation of attachment A. The joystick system 100 operates the robot R by appropriately selecting and activating each of the above-mentioned control modes according to the following configuration.

[0046] (Regarding the components of the Joystick System 100) As shown in Figures 1, 2, and 3, the joystick system 100 comprises a control unit C, a sensor 10, a stick 20, and a dial plate 30. As shown in Figure 4, the joystick system 100 is used by a user U holding the stick 20 in their hand.

[0047] The control unit C controls the joystick system 100. The control unit C controls the joystick system 100 by appropriately processing input from the user U to the stick 20 or the dial panel 30. The control unit C may be located at a distance from the stick 20 and the dial panel 30, or it may be built into the stick 20 and the dial panel 30.

[0048] The control unit C includes, for example, a processor such as a CPU (Central Processing Unit) connected by a bus and memory, and controls the joystick system 100 by executing a pre-configured control program. The control unit C may also be implemented using hardware such as an ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), or FPGA (Field Programmable Gate Array). The program may be recorded on a computer-readable recording medium. Computer-readable recording media include, for example, 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 also be transmitted via a telecommunications line.

[0049] Sensor 10 is provided on one end of the stick 20. Sensor 10 detects the force applied to the stick 20 by user U. Sensor 10 is, for example, a known force sensor. Sensor 10 may also be a known potentiometer. As shown in Figure 3, it includes a detection point 10a. Detection point 10a is a reference point for detecting the force applied to the stick 20 by user U. Sensor 10 detects, for example, a horizontal force FL, a vertical force FV, and a moment FM at detection point 10a.

[0050] As shown in Figure 3, the horizontal force FL is a translational force applied to the stick 20 from either direction in a plane containing the first axis direction X and the second axis direction Y. The vertical force FV is a translational force applied from the axial direction Z of the stick 20. The moment FM is the moment of force around the sensor 10. The moment FM is generated by applying the horizontal force FL to a point away from the sensor 10 in the axial direction Z of the stick 20.

[0051] The stick 20 is a rod-shaped member used by user U to operate robot R. As shown in Figures 1 and 3, the stick 20 includes a posture change mode selection unit 21, a plane position change mode selection unit 22, a vertical position change mode selection unit 23, a protrusion 25, a position / posture change mode selection unit 24, and a button 26.

[0052] Each of the posture change mode selection unit 21, the in-plane position change mode selection unit 22, the vertical position change mode selection unit 23, and the position and posture change mode selection unit 24 includes a touch sensor. The control unit C selects one of the above-mentioned control modes by detecting when user U touches the touch sensor.

[0053] (Regarding the posture change mode selection unit 21) The posture change mode selection unit 21 is used when user U instructs attachment A to change its posture. When user U touches the posture change mode selection unit 21, the control unit C selects a posture change mode. This makes it possible to change the posture of attachment A. When user U changes the orientation of attachment A, they apply a translational force by pushing or pulling the stick 20 in a direction perpendicular to the axial direction Z while holding the orientation change mode selection unit 21. The resulting horizontal force FL generates a moment FM. At this time, sensor 10 detects the direction in which the horizontal force FL is applied and the magnitude of the moment FM generated by the horizontal force FL.

[0054] The direction in which the horizontal force FL is applied is reflected, for example, in the direction of rotation of attachment A by the arm of robot R. For example, robot R rotates attachment A so that, as viewed from user U, the tip of attachment A moves in the same direction as the direction in which the horizontal force FL is applied. For example, if moment FM is generated in the direction perpendicular to the first axis X, robot R rotates attachment A so that, as viewed from user U, it traces an arc with the tip of attachment A as the center of rotation, in the direction perpendicular to the first axis X. If moment FM is generated in the direction perpendicular to the second axis Y or in any other direction, robot R may rotate attachment A so that, as viewed from user U, it traces an arc with the tip of attachment A as the center of rotation, in the direction perpendicular to the second axis Y or in any other direction.

[0055] The magnitude of the moment FM is reflected, for example, in the rotation speed of attachment A. For example, robot R may slow down the rotation speed of attachment A when the magnitude of moment FM is relatively small. Robot R may also increase the rotation speed of attachment A when the magnitude of moment FM is relatively large. The threshold for the magnitude of moment FM when changing the rotation speed may be appropriately changed, for example, according to the force with which user U operates the stick 20.

[0056] As shown in Figure 1, the attitude change mode selection unit 21 is located on the other end of the stick 20. This increases the distance between the attitude change mode selection unit 21 and the sensor 10. As a result, a larger moment FM is generated when force is applied to the attitude change mode selection unit 21. This contributes to making it easier for the sensor 10 to detect the moment FM.

[0057] (Regarding the in-plane position change mode selection unit 22) The in-plane position change mode selection unit 22 is used when user U instructs robot R to change its position in a predetermined plane. When user U contacts the in-plane position change mode selection unit 22, the control unit C selects an in-plane position change mode. This makes it possible to change the position of attachment A in the predetermined plane. When user U changes the position of attachment A, they apply a translational force by pushing or pulling the stick 20 in a direction perpendicular to the axial direction Z while holding the in-plane position change mode selection unit 22. This generates a horizontal force FL. At this time, sensor 10 detects the direction in which the horizontal force FL is applied and the magnitude of the horizontal force FL.

[0058] The direction in which the horizontal force FL is applied is reflected, for example, in the direction of movement of attachment A by the arm of robot R. For example, robot R moves attachment A in the same direction as the direction in which the horizontal force FL is applied, as viewed from the user U. For example, if the horizontal force FL is applied in the direction perpendicular to the first axis X, robot R moves attachment A in the direction perpendicular to the first axis X as viewed from the user U. If the horizontal force FL is applied in the direction perpendicular to the second axis Y or in any other direction, robot R may move attachment A in the direction perpendicular to the second axis Y or in any other direction as viewed from the user U.

[0059] The magnitude of the horizontal force FL is reflected, for example, in the movement speed of attachment A. For example, robot R may slow down the movement speed of attachment A when the magnitude of the horizontal force FL is relatively small. Robot R may also increase the movement speed of attachment A when the magnitude of the horizontal force FL is relatively large. The threshold for the magnitude of the horizontal force FL used to change the movement speed may be appropriately changed, for example, according to the force with which user U operates the stick 20.

[0060] As shown in Figure 1, the in-plane position change mode selection unit 22 is provided on one end of the stick 20. This makes it more difficult for the horizontal force FL to generate a moment FM, thereby facilitating the transmission of the horizontal force FL to the sensor 10. The in-plane position change mode selection unit 22 includes a first in-plane position change mode selection unit 22a and a second in-plane position change mode selection unit 22b.

[0061] The first in-plane position change mode selection unit 22a and the second in-plane position change mode selection unit 22b are arranged in the order of first in-plane position change mode selection unit 22a and second in-plane position change mode selection unit 22b from the sensor 10 side. As a result, the first in-plane position change mode selection unit 22a is positioned closer to the sensor 10 in the axial direction Z than the second in-plane position change mode selection unit 22b. This is preferable as it facilitates the transmission of the horizontal force FL to the sensor 10 by the first in-plane position change mode selection unit 22a.

[0062] Furthermore, the second in-plane position change mode selection unit 22b is positioned closer to the posture change mode than the first in-plane position change mode selection unit 22a. This is preferable as it facilitates smoother movement of the user U's hand between the second in-plane position change mode selection unit 22b and the part of the stick 20 located on the other end of the second in-plane position change mode selection unit 22b.

[0063] As shown in Figures 1 and 3, the first in-plane position change mode selection unit 22a is larger than the second in-plane position change mode selection unit 22b when viewed along the longitudinal direction of the stick 20. This makes the first in-plane position change mode selection unit 22a easier for the user U to grasp than the second in-plane position change mode selection unit 22b. This makes it preferable that the first in-plane position change mode selection unit 22a easier for the user U to apply a horizontal force FL to.

[0064] (Regarding the vertical position change mode selection unit 23) The vertical position change mode selection unit 23 is used when user U instructs robot R to change its position in a direction perpendicular to a predetermined plane. When user U contacts the vertical position change mode selection unit 23, the control unit C selects a vertical position change mode. This makes it possible to change the position of attachment A in a direction perpendicular to the predetermined plane.

[0065] When user U changes the position of attachment A, they apply a translational force by pushing or pulling the stick 20 towards one or the other end of the axial direction Z while holding the vertical position change mode selection unit 23. This generates a vertical force FV. At this time, sensor 10 detects the direction in which the vertical force FV is applied and the magnitude of the vertical force FV.

[0066] The direction in which the vertical force FV is applied is reflected, for example, in the direction in which attachment A is moved by the arm of robot R. For example, robot R moves attachment A in the same direction as the direction in which the vertical force FV is applied, as viewed from the user U. For example, if the vertical force FV is applied to one end of stick 20, attachment A is moved to the one end of stick 20 as viewed from the user U. If the vertical force FV is applied to the other end of stick 20, attachment A may be moved to the other end of stick 20 as viewed from the user U.

[0067] The magnitude of the vertical force FV is reflected, for example, in the movement speed of attachment A. For example, robot R may slow down the movement speed of attachment A when the magnitude of the vertical force FV is relatively small. Robot R may also speed up the movement speed of attachment A when the magnitude of the vertical force FV is relatively large. The threshold for the magnitude of the vertical force FV used to change the movement speed may be appropriately changed, for example, according to the force with which user U operates the stick 20.

[0068] As shown in Figures 1 and 3, the vertical position change mode selection unit 23 is provided in the portion of the stick 20 between the attitude change mode selection unit 21 and the in-plane position change mode selection unit 22. This is preferable to maintain a favorable arrangement of the attitude change mode selection unit 21 and the in-plane position change mode selection unit 22 on the stick 20.

[0069] Here, when applying translational force to the posture change mode selection unit 21 or the in-plane position change mode selection unit 22, the user U only needs to touch the stick 20 from one of the directions. In contrast, when applying translational force to the vertical position change mode selection unit 23, the user U needs to grip the vertical position change mode selection unit 23 with their entire hand. It is preferable to position the vertical position change mode selection unit 23 in the above-mentioned location so that the user U can easily grip the vertical position change mode selection unit 23 with all of their fingers.

[0070] (Regarding the position and orientation change mode selection unit 24) The position and orientation change mode selection unit 24 is used when user U instructs to change both the position and orientation of robot R. When user U touches the position and orientation change mode selection unit 24, the control unit C selects a position and orientation change mode. This makes it possible to change both the position and orientation of attachment A.

[0071] When user U changes the orientation of attachment A, they apply a translational force by pushing or pulling the stick 20 in a direction perpendicular to the axial direction Z while holding the position and orientation change mode selection unit 24. The resulting horizontal force FL generates a moment FM. At this time, sensor 10 detects the direction in which the horizontal force FL is applied and the magnitude of the moment FM generated by the horizontal force FL.

[0072] The direction in which the horizontal force FL is applied is reflected, for example, in the direction of rotation of attachment A by the arm of robot R. For example, robot R rotates attachment A so that, as viewed from user U, the tip of attachment A moves in the same direction as the direction in which the horizontal force FL is applied. For example, if moment FM is generated in the direction perpendicular to the first axis X, robot R rotates attachment A so that, as viewed from user U, it traces an arc with the tip of attachment A as the center of rotation, in the direction perpendicular to the first axis X. If moment FM is generated in the direction perpendicular to the second axis Y or in any other direction, robot R may rotate attachment A so that, as viewed from user U, it traces an arc with the tip of attachment A as the center of rotation, in the direction perpendicular to the second axis Y or in any other direction.

[0073] The magnitude of the moment FM is reflected, for example, in the rotation speed of attachment A. For example, robot R may slow down the rotation speed of attachment A when the magnitude of moment FM is relatively small. Robot R may also increase the rotation speed of attachment A when the magnitude of moment FM is relatively large. The threshold for the magnitude of moment FM when changing the rotation speed may be appropriately changed, for example, according to the force with which user U operates the stick 20.

[0074] When user U changes the position of attachment A, they apply a translational force by pushing or pulling the stick 20 in a direction perpendicular to the axial direction Z while holding the position and orientation change mode selection unit 24. This generates a horizontal force FL. At this time, sensor 10 detects the direction in which the horizontal force FL is applied and the magnitude of the horizontal force FL.

[0075] The direction in which the horizontal force FL is applied is reflected, for example, in the direction of movement of attachment A by the arm of robot R. For example, robot R moves attachment A in the same direction as the direction in which the horizontal force FL is applied, as viewed from the user U. For example, if the horizontal force FL is applied in the direction perpendicular to the first axis X, robot R moves attachment A in the direction perpendicular to the first axis X as viewed from the user U. If the horizontal force FL is applied in the direction perpendicular to the second axis Y or in any other direction, robot R may move attachment A in the direction perpendicular to the second axis Y or in any other direction as viewed from the user U.

[0076] The magnitude of the horizontal force FL is reflected, for example, in the movement speed of attachment A. For example, robot R may slow down the movement speed of attachment A when the magnitude of the horizontal force FL is relatively small. Robot R may also increase the movement speed of attachment A when the magnitude of the horizontal force FL is relatively large. The threshold for the magnitude of the horizontal force FL used to change the movement speed may be appropriately changed, for example, according to the force with which user U operates the stick 20.

[0077] The position and orientation change mode selection unit 24 is located on the stick 20, specifically in the portion between the orientation change mode selection unit 21 and the vertical position change mode selection unit 23. In other words, the position and orientation change mode selection unit 24 is located on the other end of the stick 20, rather than the vertical position change mode selection unit 23. This ensures that the distance between the position and orientation change mode selection unit 24 and the sensor 10 is sufficient to generate a force moment FM around the sensor 10 when force is applied to the position and orientation change mode selection unit 24.

[0078] Furthermore, the position and attitude change mode selection unit 24 is located on the stick 20 closer to the sensor 10 than the attitude change mode selection unit 21. This makes it easier to transmit the horizontal force FL to the sensor 10 when a horizontal force FL is applied to the position and attitude change mode selection unit 24. In this way, by positioning the position and orientation change mode selection unit 24 in the aforementioned location, the orientation and position of attachment A can be changed solely by the position and orientation change mode selection unit 24.

[0079] The position and orientation change mode selection unit 24 is preferably used when precision is not required when changing the orientation and position of attachment A. Specifically, for example, it is preferably used when simply trying to bring attachment A closer to object O before performing detailed positioning with respect to object O, and when easily moving the robot R.

[0080] (Regarding the protrusion 25) The projection 25 is a portion of the stick 20 that protrudes in the direction perpendicular to the axis of the stick 20. As shown in Figures 1 and 3, the projection 25 includes a first projection 25a, a second projection 25b, a third projection 25c, and a fourth projection 25d. The first projection 25a is provided on one end of the vertical position change mode selection section 23 of the stick 20. Specifically, the first projection 25a is provided between the second in-plane position change mode selection section 22b and the vertical position change mode selection section 23.

[0081] The second projection 25b is provided on the other end of the vertical position change mode selection unit 23 of the stick 20. Specifically, the second projection 25b is provided between the vertical position change mode selection unit 23 and the position and attitude change mode selection unit 24. The third projection 25c is provided on the other end of the position and attitude change mode selection unit 24 on the stick 20. Specifically, the third projection 25c is provided between the position and attitude change mode selection unit 24 and the attitude change mode selection unit 21. The fourth projection 25d is provided on the other end side of the attitude change mode selection unit 21 on the stick 20.

[0082] When user U operates the vertical position change mode selection unit 23, it is preferable to hook their finger onto the first projection 25a or the second projection 25b. This makes it easier for user U to apply a vertical force FV to the stick 20. This makes it preferable for user U to operate the robot R using the vertical position change mode selection unit 23.

[0083] When user U operates the position and orientation change mode selection unit 24, it is preferable that they hook their fingers onto the second projection 25b and the third projection 25c. When operating the posture change mode selection unit 21, it is preferable for user U to hook their fingers onto the third projection 25c and the fourth projection 25d. Alternatively, when operating the posture change mode selection unit 21, user U may touch only a portion of their fingers to the posture change mode selection unit 21 and grasp the fourth projection 25d with their entire hand. It is preferable that user U grips the stick 20 in the manner described above, making it easier for them to operate the robot R with the stick 20. However, user U may also appropriately select the protrusion 25 on which to hook their fingers when operating the stick 20, according to the size of their hand.

[0084] (Regarding button 26) Button 26 is provided at the other end of the stick 20, as shown in Figures 1 and 3. The joystick system 100 changes the position and orientation of the robot R by different amounts depending on whether button 26 is pressed or not, through the operation of the stick 20. This improves the convenience of operation of the robot R by the user U. For example, it makes it easier to quickly bring the robot R's attachment A closer to the object O, or to perform precise positioning of the attachment A relative to the object O.

[0085] Specifically, for example, when user U instructs robot R to change its position using one of the control modes described above, they press button 26. Based on the press of button 26, the joystick system 100 increases the movement speed of robot R. The joystick system 100 may also decrease the movement speed of robot R based on the press of button 26.

[0086] Furthermore, user U may press button 26 when instructing a change in the posture of robot R using each of the control modes described above. The joystick system 100 may increase the rotation speed of robot R based on the pressing of button 26. The joystick system 100 may decrease the rotation speed of robot R based on the pressing of button 26.

[0087] (Regarding dial 30) The dial plate 30 is used to indicate a change in the position of attachment A in a direction perpendicular to a predetermined plane. The dial plate 30 is, for example, a disc-shaped member as shown in Figure 1. Preferably, the dial plate 30 has grooves along its outer edge for the user U to grip with their finger.

[0088] The dial plate 30 is rotatable about an axis extending in any direction perpendicular to the axial direction Z. Attachment A may move its tip closer to the object O when, for example, user U rotates the dial plate 30 in one direction. Attachment A may move its tip further away from the object O when user U rotates the dial plate 30 in the other direction.

[0089] The dial panel 30 is provided near the vertical position change mode selection unit 23. This is preferable so that the user U can operate the dial panel 30 with only one finger. When the user U grips the stick 20, they first place their palm on the stick 20. Then, they bend their four fingers other than their thumb and grip the stick 20 by wrapping their hand around it. The dial panel 30 is preferably provided in a position where the user U's thumb can reach it while the user U is gripping the stick 20 as described above.

[0090] The dial plate 30 is positioned so that its side surface in the direction of the rotation axis (thickness direction) faces the stick 20. Preferably, the dial plate 30 is at least 80 mm away from the stick 20 in the direction of the rotation axis of the dial plate 30, and more preferably at least 50 mm away. Furthermore, the radial side surface of the dial plate 30, i.e., the surface on which the user U places their thumb when operating the dial plate 30, is preferably positioned so that it overlaps with the side surface of the stick 20 when viewed from the direction X perpendicular to the first axis. With this arrangement, it is preferable that, for example, as shown in Figure 4, the user U can operate the dial plate 30 with only their thumb and simultaneously operate the stick 20 with their other fingers.

[0091] In Figure 4, the dial panel 30 is positioned to the left of the stick 20 from the user U's perspective. Therefore, user U is holding the stick 20 with their right hand. However, the dial panel 30 may also be positioned to the right of the stick 20 from the user U's perspective so that it can be operated with the left hand. The position of the dial panel 30 may be adjustable so that it can be operated with either hand. Alternatively, the dial panel 30 may be provided on both sides of the stick 20.

[0092] As described above, in the joystick system 100 according to this embodiment, the sensor 10 is provided on one end of the stick 20. The posture change mode selection unit 21 is provided on the other end of the stick 20. As a result, the force applied by the user U to the stick 20 while in contact with the posture change mode selection unit 21 is transmitted to the sensor 10 as a force moment around the sensor 10. Therefore, the sensor 10 can detect this force moment and process it as an instruction to change the posture of the robot R. Thus, for example, when the user U wants to tilt the posture of the robot R, the user U can instruct the robot R to change its posture by applying force to tilt the stick 20.

[0093] Since the sensor 10 and the attitude change mode selection unit 21 are provided at both ends of the stick 20, a sufficient distance can be provided between the sensor 10 and the attitude change mode selection unit 21. Therefore, the force moment around the sensor 10 can be efficiently generated with less force. Thus, the joystick system 100 can be operated with less force.

[0094] Furthermore, the in-plane position change mode selection unit 22 is provided on one end of the stick 20. In other words, the in-plane position change mode selection unit 22 is positioned closer to the sensor 10 on the stick 20 than the posture change mode selection unit 21. As a result, the force applied by the user U to the stick 20 while in contact with the in-plane position change mode selection unit 22 is transmitted to the sensor 10 as a horizontal force. Therefore, the sensor 10 can detect this horizontal force and process it as an instruction to change the position of the robot R. Thus, for example, when the user U wants to move the position of the robot R in the translational direction, the user U can instruct the robot R to change its position by applying force to push the stick 20 in the translational direction.

[0095] Furthermore, the in-plane position change mode selection unit 22 is arranged in the order of first in-plane position change mode selection unit 22a and second in-plane position change mode selection unit 22b from the side of the sensor 10. In other words, the distance between the second in-plane position change mode selection unit 22b and the posture change mode selection unit 21 is shorter than the distance between the first in-plane position change mode selection unit 22a and the posture change mode selection unit 21. As a result, user U can smoothly move their hand between the second in-plane position change mode selection unit 22b and the posture change mode selection unit 21. Therefore, when the position of robot R is changed using the second in-plane position change mode selection unit 22b, the posture change and position change of robot R can be switched more efficiently compared to when the first in-plane position change mode selection unit 22a is used.

[0096] The first in-plane position change mode selection unit 22a is larger than the second in-plane position change mode selection unit 22b when viewed along the longitudinal direction of the stick 20. As a result, the first in-plane position change mode selection unit 22a allows the user U to apply horizontal force more easily than the second in-plane position change mode selection unit 22b.

[0097] Incidentally, in order to transmit horizontal force to the sensor 10, it is preferable to shorten the distance between the part where the force is applied and the sensor 10 so as to reduce the generation of a moment due to the horizontal force. Here, the distance between the first in-plane position change mode selection unit 22a and the sensor 10 is shorter than the distance between the second in-plane position change mode selection unit 22b and the sensor 10. Therefore, when force is applied to the stick 20 from the first in-plane position change mode selection unit 22a, the horizontal force can be efficiently transmitted to the sensor 10 with less force compared to when force is applied to the stick 20 from the second in-plane position change mode selection unit 22b. Thus, for example, even when the force applied by user U is relatively small, the position of the robot R can be easily changed.

[0098] Here, the posture change mode selection unit 21 is preferably located far from the sensor 10 in order to efficiently transmit the force moment to the sensor 10. The in-plane position change mode selection unit 22 is preferably located close to the sensor 10 in order to transmit the horizontal force to the sensor 10. Furthermore, the vertical position change mode selection unit 23 is preferably positioned so that the user U can grip it with all of their fingers to facilitate the application of force in the axial direction of the stick 20.

[0099] The vertical position change mode selection unit 23 is located on the stick 20, specifically in the portion between the posture change mode selection unit 21 and the in-plane position change mode selection unit 22. This allows the vertical position change mode selection unit 23 to be positioned on the stick 20 while maintaining the preferred arrangement described above. Furthermore, if the vertical position change mode selection unit 23 is located at either end of the stick 20, when user U grips the vertical position change mode selection unit 23, user U cannot grip it with all of their fingers. As a result, one of their fingers may slip off the stick 20. By positioning the vertical position change mode selection unit 23 at the aforementioned location (a location other than the end of the stick 20), user U can more easily grip the vertical position change mode selection unit 23 with all of their fingers. This makes it easier to operate the robot R using the vertical position change mode selection unit 23.

[0100] Furthermore, protrusions 25 are provided on both one end and the other end of the vertical position change mode selection unit 23. This allows the user U to hook their fingers onto the protrusions 25 when operating the vertical position change mode selection unit 23. Thus, it becomes easier to operate the robot R using the vertical position change mode selection unit 23.

[0101] Furthermore, the dial 30 is used to instruct a change in the position of attachment A in a direction perpendicular to a predetermined plane. This allows for simultaneous control of the robot R's posture and position using the stick 20 and control of attachment A using the dial 30.

[0102] Here, the position of attachment A in a direction perpendicular to a predetermined plane (hereinafter referred to as the vertical position) is determined not only by the vertical position of attachment A itself, but also by the vertical position of robot R. Therefore, in order to adjust the vertical position of attachment A, it is necessary to instruct not only to change the vertical position of attachment A, but also to change the vertical position of robot R. In response to this, the dial panel 30 is provided near the vertical position change mode selection unit 23. This allows user U to operate the vertical position change mode selection unit 23 and the dial panel 30 of the stick 20 simultaneously with one hand. Thus, it is possible for user U to easily adjust the vertical position of the tip of attachment A.

[0103] Furthermore, the dial panel 30 is positioned so that it can be reached by the thumb of the user U when the user U is holding the stick 20. This allows the user U to operate the dial panel 30 using only their thumb without releasing their hand from the stick 20. Thus, it becomes easier to operate the robot R and attachment A simultaneously.

[0104] Furthermore, the position and orientation change mode selection unit 24 is located on the stick 20, specifically in the portion between the orientation change mode selection unit 21 and the vertical position change mode selection unit 23. In other words, the position and orientation change mode selection unit 24 is located on the other end of the stick 20, rather than the vertical position change mode selection unit 23. This allows the distance between the position and orientation change mode selection unit 24 and the sensor 10 to be sufficient to generate a force moment around the sensor 10 when force is applied to the position and orientation change mode selection unit 24. Therefore, when force is applied from the position and orientation change mode selection unit 24 to tilt the stick 20, a force moment around the sensor 10 can be generated. Thus, the posture of the robot R can be changed by the position and orientation change mode selection unit 24.

[0105] Furthermore, the position and orientation change mode selection unit 24 is located on the stick 20, closer to the sensor 10 than the orientation change mode selection unit 21. This makes it easier to transmit horizontal force to the sensor 10 when a horizontal force is applied to the position and orientation change mode selection unit 24. Therefore, the position of the robot R can be changed by the position and orientation change mode selection unit 24.

[0106] Thus, by positioning the position and orientation change mode selection unit 24 in the aforementioned location, the orientation and position of the robot R can be changed solely by the position and orientation change mode selection unit 24. This embodiment offers significant advantages when precision is not required when changing the attitude and position of the robot R. Specifically, for example, when simply trying to bring the robot R closer to an object before performing detailed positioning relative to the object, the robot R can be easily moved.

[0107] Furthermore, the posture change mode selection unit 21, the in-plane position change mode selection unit 22, the vertical position change mode selection unit 23, and the position / posture change mode selection unit 24 each include a touch sensor. This allows the user U to select each of the above modes simply by touching the touch sensor. Thus, the user U can select each mode without requiring complex operations.

[0108] Here, sensor 10 (for example, a force sensor) generally processes the applied translational force or force moment as an analog value. In other words, sensor 10 does not have an ON / OFF concept. Therefore, depending on the setting of the threshold values ​​for translational force or force moment, it may cause the joystick system 100 to malfunction. In contrast, by using a touch sensor, the switching of each mode can be made reliably. That is, the enabling and disabling of input to sensor 10 can be reliably switched. Thus, the operation of robot R by joystick system 100 can be made safer.

[0109] Furthermore, the amount by which the position and orientation of robot R are changed by operating the stick 20 is varied depending on whether button 26 is pressed or not. For example, if pressing button 26 increases the amount by which the position and orientation of robot R are changed, the movement speed of robot R can be increased by operating the stick 20. Therefore, robot R can be brought closer to the target object more quickly. For example, if pressing button 26 reduces the amount by which the position and orientation of robot R are changed, the movement speed of robot R can be slowed down by operating the stick 20. Therefore, it becomes easier to perform more precise positioning of robot R. In either case, after bringing the robot R closer to the object with its movement speed increased (either by pressing or not pressing button 26), it becomes easier to perform more precise positioning of the robot R, either by pressing or not pressing button 26, while its movement speed is reduced.

[0110] (Second Embodiment) Next, a second joystick system 200 according to a second embodiment of the present invention will be described with reference to Figure 5. In this second embodiment, the same reference numerals are used for parts that are the same as those in the first embodiment, and their descriptions are omitted. Only the differences will be described. The second joystick system 200 according to this embodiment controls both the position and orientation of the robot R.

[0111] The second joystick system 200 comprises a sensor 10, a stick 20, a dial plate 30, a second robot 210 (robot), and a second attachment 220 (attachment). The second joystick system 200 differs from the joystick system 100 according to the first embodiment in that it includes a second robot 210 and a second attachment 220 as part of its configuration.

[0112] The sensor 10, stick 20, and dial panel 30 have the same configuration as the joystick system 100 according to the first embodiment, but differ in the following respects. In other words, for example, the sensor 10 is provided at a predetermined position on the second attachment 220. As shown in Figure 5, the predetermined position is the upper surface of the second attachment 220. That is, the sensor 10 and the stick 20 are attached to the upper surface of the second attachment 220.

[0113] In other words, the sensor 10 and the stick 20 are directly mounted on the second attachment 220. Therefore, when the second attachment 220 is moved using the stick 20, the stick 20 also moves in conjunction. In this respect, it differs from the joystick system 100, in which the robot R and attachment A are remotely controlled by the stick 20.

[0114] The sensor 10, attitude change mode selection unit 21, in-plane position change mode selection unit 22, and vertical position change mode selection unit 23 are arranged in the following order from a predetermined position: sensor 10, in-plane position change mode selection unit 22, vertical position change mode selection unit 23, and attitude change mode selection unit 21.

[0115] The second robot 210 moves, for example, the second attachment 220 along a predetermined plane. In the second embodiment, the predetermined plane is a plane perpendicular to the axial direction of the attachment, for example, a horizontal plane. The second attachment 220 is mounted on the robot R. The tip of attachment A moves along a direction perpendicular to a predetermined plane.

[0116] In the second joystick system 200, the robot R moves attachment A directly above the object O. Then, it moves the tip of the second attachment 220 along a direction perpendicular to the predetermined plane. As a result, the tip of attachment A approaches and makes contact with the object O.

[0117] As described above, according to the second joystick system 200 of this embodiment, the sensor 10 is provided at a predetermined position on the second attachment 220. In other words, the stick 20 on which the sensor 10 is provided is attached to the second attachment 220 provided on the second robot 210. Therefore, when the second robot 210 and the second attachment 220 are moved by operating the stick 20, the stick 20 also moves accordingly. Thus, the user U can operate the second robot 210 using the stick 20 as if they were moving it directly by hand. This makes it possible to operate the second robot 210 more intuitively.

[0118] (Third embodiment) Next, a third joystick system according to a third embodiment of the present invention will be described. In this third embodiment, the same reference numerals are used for parts that are the same as those in the first and second embodiments, and their descriptions are omitted. Only the differences will be described.

[0119] The third joystick system according to this embodiment controls both the position and orientation of the robot R and attachment A. The third joystick system may also control both the position and orientation of the second robot 210 and the second attachment 220. In other words, the configuration of the third joystick system may be applied to the joystick system 100 or to the second joystick system 200.

[0120] The third joystick system comprises a sensor 10, a second stick, and a setting unit. The third joystick system differs from the joystick system 100 according to the first embodiment and the second joystick system 200 according to the second embodiment in that it comprises a second stick and a setting unit.

[0121] The sensor 10 is provided on the second stick. The second stick includes a first part, a second part, and a third part. The second stick includes at least a posture change mode selection unit 21, a plane position change mode selection unit 22, and a vertical position change mode selection unit 23. These configurations are the same as those in the first and second embodiments.

[0122] The setting unit associates the attitude change mode selection unit 21, the in-plane position change mode selection unit 22, and the vertical position change mode selection unit 23 with the first part, the second part, and the third part, respectively. In other words, the third joystick system can change the position of each of the above-mentioned mode selection units on the stick 20 by the setting unit.

[0123] The setting unit includes, for example, a recording device for recording user U's setting instructions, and a processing unit capable of appropriately switching the application of control modes based on the recording. In this embodiment, these components are provided, for example, inside the control unit C. The setting instructions given by user U are recorded in the recording device, for example, by connecting an external device to the recording device. However, the third joystick system may also be provided with a separate interface for user U to give the setting instructions.

[0124] As described above, the third joystick system according to this embodiment includes a setting unit that associates each of the attitude change mode selection unit 21, the in-plane position change mode selection unit 22, and the vertical position change mode selection unit 23 with each of the first, second, and third parts. This allows the setting unit to select whether to place each of the above-mentioned mode selection units in the first, second, or third part. In other words, by providing a setting unit, the arrangement of each selection unit can be improved according to the shape of the stick 20 and the shape of the robot R. Therefore, the selection of each of the above-mentioned modes using the second stick can be made more easily tailored to the user U's needs. Thus, the convenience of the third joystick system can be further improved.

[0125] It should be noted that the technical scope of the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention. For example, in this embodiment, the robot R is described as being movable in three axes and the attachment A is movable in one axis, but this is not limited to this. Each joystick system according to this embodiment may be applied to a robot having any other degree of freedom, for example.

[0126] Furthermore, without departing from the spirit of the present invention, the components in the above embodiments may be replaced with well-known components as appropriate, and the above-described modifications may be combined as appropriate. [Explanation of Symbols]

[0127] 10 sensors 20 sticks 21 Posture Change Mode Selection Section 22 In-plane position change mode selection section 22a First Plane Position Change Mode Selection Unit 22b Second Plane Position Change Mode Selection Unit 23 Vertical position change mode selection section 24 Position and attitude change mode selection section 25 Protrusion 26 buttons 30 Dial Disc 100 Joystick Systems 200 Second Joystick System A Attachment R Robot U User

Claims

1. A joystick system for instructing a robot to change its position on a predetermined plane, A stick whose base is fixed to the control panel or robot, A detection sensor provided at the base for detecting the moment and / or translational force of the force input to the stick, A plane position change mode selection unit selects a plane position change mode for instructing a change in the robot's position on a predetermined plane when contacted by a user. Equipped with, The in-plane position change mode selection unit is provided on the side of the base of the stick, In accordance with the detection result by the detection sensor, a signal is transmitted to instruct the change in the in-plane position change mode. A joystick system characterized by the following features.

2. The in-plane position change mode selection unit is: A first plane position change mode selection unit, Includes a second plane position change mode selection unit, The first in-plane position change mode selection unit and the second in-plane position change mode selection unit are arranged in the order of the first in-plane position change mode selection unit, then the second in-plane position change mode selection unit, from the base side of the stick. The joystick system according to claim 1.

3. The first in-plane position change mode selection unit is larger than the second in-plane position change mode selection unit when viewed along the longitudinal direction of the stick. The joystick system according to claim 2, characterized in that it is as described above.

4. The system further includes a vertical position change mode selection unit that, when contacted by a user, selects a vertical position change mode for instructing a change in the position of the robot in a direction perpendicular to the predetermined plane. The vertical position change mode selection unit is provided in the portion of the stick between the tip of the stick and the plane position change mode selection unit. In accordance with the detection result by the detection sensor, a signal is transmitted to instruct the change in the vertical position change mode. The joystick system according to claim 2 or 3, characterized in that it is as described above.

5. A projection is provided on both the base side and the tip side of the stick of the vertical position change mode selection unit. The joystick system according to feature 4.

6. It also features a dial panel, The robot is equipped with an attachment, The attachment moves along a direction perpendicular to the predetermined plane, The dial is used to indicate a change in the position of the attachment in a direction perpendicular to the predetermined plane. The dial panel is provided near the vertical position change mode selection section. The joystick system according to claim 4 or 5, characterized in that it is the same as described in claim 4 or 5.

7. The aforementioned dial is positioned so that when the user grips the vertical position change mode selection unit, the user's thumb can reach it. The joystick system according to feature 6.

8. The system further includes a position and orientation change mode selection unit that, when contacted by the user, selects a position and orientation change mode for instructing a change in both the position and orientation of the robot. The position and orientation change mode selection unit is provided in the portion of the stick between the tip of the stick and the vertical position change mode selection unit. In accordance with the detection result by the detection sensor, a signal is transmitted to instruct the change in the position and orientation change mode. The joystick system according to any one of claims 4 to 7, characterized by the features described herein.

9. Each of the in-plane position change mode selection unit, the vertical position change mode selection unit, and the position and orientation change mode selection unit includes a touch sensor. The joystick system according to claim 8, characterized by the features described above.

10. The stick further comprises a button located at its tip, Depending on whether the aforementioned button is pressed or not, the amount by which the position and orientation of the robot are changed by the operation of the stick is made different. The joystick system according to any one of claims 1 to 9, characterized by the features described herein.

11. A joystick system for controlling both the position and orientation of a robot, A stick and A detection sensor provided on the stick and for detecting the moment and / or translational force of the force input to the stick, A plane position change mode selection unit is provided on the stick and, when touched by the user, selects a plane position change mode for instructing a change in the robot's position on a predetermined plane. A vertical position change mode selection unit is provided on the stick and, when touched by the user, selects a vertical position change mode for instructing a change in the position of the robot in a direction perpendicular to the predetermined plane. The robot is provided with an attachment that moves along a direction perpendicular to the predetermined plane, The detection sensor is provided at a predetermined position on the attachment. The detection sensor, the in-plane position change mode selection unit, and the vertical position change mode selection unit are arranged in the order of the detection sensor, the in-plane position change mode selection unit, and the vertical position change mode selection unit when viewed along the longitudinal direction of the stick from the predetermined position. In accordance with the detection result by the detection sensor, a signal is transmitted to instruct the change in each mode. A joystick system characterized by the following features.

12. A joystick system for controlling both the position and orientation of a robot, A stick containing the first part and the second part, A detection sensor provided on the stick and for detecting the moment and / or translational force of the force input to the stick, A plane position change mode selection unit is provided on the stick and, when touched by the user, selects a plane position change mode for instructing a change in the robot's position on a predetermined plane. A vertical position change mode selection unit is provided on the stick and, when touched by the user, selects a vertical position change mode for instructing a change in the position of the robot in a direction perpendicular to the predetermined plane. The system comprises a setting unit that associates the in-plane position change mode selection unit and the vertical position change mode selection unit with the first part and the second part, respectively. The first and second parts are arranged along the longitudinal direction of the stick, In accordance with the detection result by the detection sensor, a signal is transmitted to instruct the change in each mode. A joystick system characterized by the following features.

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