Robot operation device, robot operation method, and robot system

Abstract

This robot operation device comprises: an input unit for inputting a movement direction; an instruction unit that instructs a robot to move in the movement direction input to the input unit; a detection unit that detects at least one of the position and the direction of the robot relative to a reference position; a display unit that displays a robot model; and a display control unit for controlling the display unit so that the robot model is displayed using an orientation in which the robot is visible from at least one of the position and the direction detected by the detection unit.

Description

[Technical Field]

[0001] This specification discloses a robot manipulation device, a robot manipulation method, and a robot system. [Background technology]

[0002] Conventionally, an information processing device has been proposed in which a user operates a control panel to issue a directional instruction, and the movable part of a robot moves in the direction indicated by the directional instruction (see, for example, Patent Document 1). This information processing device first acquires an operation signal (movement direction instruction) from an operation input unit of the control panel. Next, the information processing device acquires the position of the operator in the workspace coordinate system from an operator position measurement unit (infrared sensor). Next, the information processing device calculates a movement vector for the direction indicated by the movement direction instruction from the acquired position of the operator in the workspace coordinate system, and converts it into a movement vector in the base coordinate system. The information processing device then adds the converted movement vector to the current position of the robot to determine the destination position in the base coordinate system, and outputs a signal indicating the determined destination position to the robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-119579 Summary of the Invention [Problem to be solved by the invention]

[0004] A robot operation device may be provided with a display device on the operation panel, and the display device may show a robot model of the robot moving in response to movement direction instructions from a user (operator). However, the way the robot appears to the user varies depending on the operator's position and direction relative to the robot. Therefore, simply displaying a robot model on the operation panel may result in a mismatch between the posture of the robot seen by the operator and the posture of the robot model displayed on the screen, making it difficult to operate intuitively.

[0005] A primary object of the present disclosure is to enable an operator to operate a robot more intuitively. [Means for solving the problem]

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The robot manipulation device of the present disclosure includes: A robot operation device for operating a robot, an input unit for inputting a movement direction; an instruction unit that instructs the robot to move in a movement direction inputted to the input unit; a detection unit that detects at least one of a position and a direction of the robot relative to a reference position; a display unit that displays a robot model; a display control unit that controls the display unit so that the robot model is displayed in a posture as seen from at least one of the position and direction detected by the detection unit; The gist of the project is to provide the following:

[0008] The robot manipulation device disclosed herein detects at least one of the position and direction of the robot relative to a reference position, and displays the robot model in the posture as seen from at least one of the detected position and direction. This allows the posture of the robot as seen by the operator to correspond (match) with the posture of the robot model displayed on the display unit, enabling the operator to more intuitively manipulate the robot using the manipulation device while looking at the displayed robot model. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an external perspective view of a robot system. [Figure 2] FIG. 2 is a side view of the robot body. [Figure 3] FIG. 2 is a block diagram showing the electrical connection relationship between the robot main body, the robot control device, and the robot operation device. [Figure 4] FIG. 2 is an explanatory diagram showing an example of an image displayed on a display unit. [Figure 5] FIG. 2 is an explanatory diagram illustrating a base coordinate system (robot coordinate system). [Figure 6] 10 is a flowchart illustrating an example of a display control process. [Figure 7] FIG. 10 is an explanatory diagram showing coordinate transformation. [Figure 8] FIG. 2 is an explanatory diagram showing the posture of the robot body as seen from the robot operation device (controller coordinate system). [Figure 9] 9 is an explanatory diagram showing an example of display of a robot model and movement instruction buttons in the position and direction of the robot operating device in FIG. 8. FIG. [Figure 10] 10 is a flowchart illustrating an example of a movement instruction transmission process. [Figure 11] FIG. 10 is an explanatory diagram showing a case where a robot model is displayed on a display unit. [Figure 12] FIG. 10 is an explanatory diagram showing a case where a robot model is not displayed on the display unit. DETAILED DESCRIPTION OF THE INVENTION

[0010] Next, embodiments of the present disclosure will be described with reference to the drawings. Fig. 1 is an external perspective view of a robot system. Fig. 2 is a side view of a robot main body. Fig. 3 is a block diagram showing the electrical connection relationship between the robot main body, a robot control device, and a robot operation device.

[0011] 1, the robot system 1 includes a robot 10 including a robot main body 20 and a robot control device 70 (see FIG. 3), and a robot operation device 100 that operates the robot in response to user input. The robot operation device 100 is used as a teaching operation device that teaches the robot 10 how to operate the robot 10 by operating the robot 10 and recording the operations obtained by the operations.

[0012] The robot main body 20 includes a first arm 21, a second arm 22, a base 25, a first arm driving device 35, a second arm driving device 36, a posture holding device 37, an elevator device 40, and a three-axis rotation mechanism 50. The first arm 21, the second arm 22, and the three-axis rotation mechanism 50 may sometimes be simply referred to as arms.

[0013] The first arm 21 has a base end connected to the lifting member 26 via a first joint shaft 31. The first arm driving device 35 includes a motor 35a and an encoder 35b. The rotation shaft of the motor 35a is connected to the first joint shaft 31 via a reducer (not shown). The first joint shaft 31 extends in the vertical direction (Z-axis direction), and the first arm driving device 35 drives the first joint shaft 31 with the motor 35a, thereby rotating (horizontally swinging) the first arm 21 along a horizontal plane (XY plane) around the first joint shaft 31 as a fulcrum. The encoder 35b is attached to the rotation shaft of the motor 35a and is configured as a rotary encoder that detects the amount of rotational displacement of the motor 35a.

[0014] The second arm 22 has a base end connected to the tip end of the first arm 21 via a second joint shaft 32. The second arm driving device 36 includes a motor 36a and an encoder 36b. The rotation shaft of the motor 36a is connected to the second joint shaft 32 via a reducer (not shown). The second joint shaft 32 extends in a direction parallel to the first joint shaft 31 (the Z-axis direction), and the second arm driving device 36 rotates the second arm 22 along a horizontal plane (horizontally pivots) around the second joint shaft 32 as a fulcrum by driving the second joint shaft 32 to rotate using the motor 36a. The encoder 36b is attached to the rotation shaft of the motor 36a and is configured as a rotary encoder that detects the amount of rotational displacement of the motor 36a.

[0015] An elevator device 40 is installed on the base 25. As shown in FIGS. 1 and 2 , the elevator device 40 includes a slider 41 fixed to the elevator member 26, a guide member 42 fixed to the base 25 and extending in the vertical direction (Z-axis direction) to guide the movement of the slider 41, a ball screw shaft 43 (elevation shaft) extending in the vertical direction and screwed into a ball screw nut (not shown) fixed to the slider 41, a motor 44 that rotationally drives the ball screw shaft 43, and an encoder 45 (see FIG. 3 ). The elevator device 40 raises and lowers the elevator member 26 fixed to the slider 41 along the guide member 42 by driving the ball screw shaft 43 to rotate using the motor 44. As the elevator member 26 rises and falls, the arms (first arm 21, second arm 22, and three-axis rotation mechanism 50) also rise and fall. The encoder 45 is configured as a linear encoder that detects the elevation position of the slider 41 (elevating member 26).

[0016] The three-axis rotation mechanism 50 is connected to the tip of the second arm 22 via the attitude-maintaining shaft 33 extending vertically. The three-axis rotation mechanism 50 includes a first rotation shaft 51, a second rotation shaft 52, and a third rotation shaft 53 that are perpendicular to one another, a first rotation device 55 that rotates the first rotation shaft 51, a second rotation device 56 that rotates the second rotation shaft 52, and a third rotation device 57 that rotates the third rotation shaft 53. The first rotation shaft 51 is supported in an orthogonal orientation with respect to the attitude-maintaining shaft 33. The second rotation shaft 52 is supported in an orthogonal orientation with respect to the first rotation shaft 51. The third rotation shaft 53 is supported in an orthogonal orientation with respect to the second rotation shaft 52. The first rotation device 55 includes a motor 55a that rotationally drives the first rotation shaft 51, and an encoder 55b attached to the rotation shaft of the motor 55a and detecting the rotational displacement of the motor 55a. The second rotation device 56 has a motor 56a that rotates the second rotation shaft 52 and an encoder 56b attached to the rotation shaft of the motor 56a and detecting the amount of rotational displacement of the motor 56a. The third rotation device 57 has a motor 57a that rotates the third rotation shaft 53 and an encoder 57b attached to the rotation shaft of the motor 57a and detecting the amount of rotational displacement of the motor 57a. An end effector serving as the hand of the robot body 20 is attached to the third rotation shaft 53.

[0017] The robot body 20 of this embodiment can move the hand to any position in any posture by combining translational motion in three directions, the X-axis direction, the Y-axis direction, and the Z-axis direction, by the first arm driving device 35, the second arm driving device 36, and the lifting device 40, with rotational motion in three directions, around the X-axis (pitching), around the Y-axis (rolling), and around the Z-axis (yawing), by the rotary three-axis mechanism 50.

[0018] The attitude holding device 37 holds the attitude of the three-axis rotation mechanism 50 (the orientation of the first rotation shaft 51) in a fixed direction regardless of the attitudes of the first arm 21 and the second arm 22. The attitude holding device 37 includes a motor 37a and an encoder 37b. The rotation shaft of the motor 37a is connected to the attitude holding shaft 33 via a reducer (not shown). The attitude holding device 37 sets a target rotation angle of the attitude holding shaft 33 based on the rotation angles of the first joint shaft 31 and the second joint shaft 32 so that the axial direction of the first rotation shaft 51 is always in the left-right direction (X-axis direction), and drives and controls the motor 37a so that the attitude holding shaft 33 reaches the target rotation angle. This makes it possible to control the translational motion in three directions and the rotational motion in three directions independently, making control easier.

[0019] Although not shown, the robot control device 70 is configured as a microprocessor centered around a CPU. Detection signals from the encoders 35b, 36b, 37b, 45, 55b, 56b, and 57b are input to the robot control device 70. The robot control device 70 also outputs drive signals to the motors 35a, 36a, 37a, 44, 55a, 56a, and 57a. The robot control device 70 is also connected to the robot operation device 100 via a cable 11.

[0020] The robot 20 configured in this manner operates as follows: First, the robot controller 70 acquires a target position for the arm's hand in a base coordinate system (X, Y, Z) set on the base 25. Next, the robot controller 70 sets target rotation angles for each of the joint axes 31, 32, etc. by solving inverse kinematics for the acquired target position. Then, the robot controller 70 sets torque commands by feedback control so that the rotation angles of each of the joint axes 31, 32, etc. detected by each of the encoders 35 b, 36 b, etc. coincide with the respective target rotation angles, and controls the motors 35 a, 36 a, etc. so that torques corresponding to the torque commands are output.

[0021] The robot operating device 100 is a controller for moving the robot body 20 in response to operation input by an operator, and includes a display unit 110, an operation input unit 120, a position detection unit 130, a direction detection unit 140, and a processing unit 150.

[0022] The display unit 110 is a display device that displays images, such as a liquid crystal display or an organic EL display. The operation input unit 120 is a touch panel that detects operation inputs to the screen of the display unit 110, and the operator inputs various operations by touching operation buttons (software buttons) displayed on the display unit 110. Fig. 4 is an explanatory diagram showing an example of an image display on the display unit. As shown in the figure, the display unit 110 displays a model (robot model) 111 of the robot main body 20, and movement instruction buttons 112a to 112d for each movement direction, which are used to input instructions for the movement amount and movement direction of the robot main body 20.

[0023] The position detection unit 130 detects the position of the robot operation device 100 relative to the robot main body 20, and includes, for example, a camera that captures an image of an object and an image processing device that processes the image captured by the camera. The position detection unit 130 captures an image of the robot main body 20 with the camera, processes the captured image with the image processing device, and recognizes a reference position of the robot main body 20, thereby detecting the relative position of the robot operation device 100 with respect to the reference position. In this embodiment, the reference position is defined as the origin O of a base coordinate system (X, Y, Z) set on the base 25, as shown in FIG. 5. The position detection unit 130 detects the position of the robot operation device 100 as a rotation angle α around the X axis and a rotation angle β around the Z axis in the base coordinate system (X, Y, Z), with the Y axis direction being 0 degrees. Note that instead of a camera, an ultrasonic sensor or the like may be used as the position detection unit 130.

[0024] The direction detection unit 140 detects the direction (orientation) of the robot operating device 100 relative to the reference position of the robot main body 20, and can use, for example, a configuration including the above-mentioned camera and image processing device, or a gyro sensor. The direction detection unit 140 detects the direction of the robot operating device 100 as a rotation angle γ around the X axis and a rotation angle δ around the Z axis in the base coordinate system (X, Y, Z), where the Y axis direction is 0 degrees.

[0025] Although not shown, the processing unit 150 is configured as a microprocessor centered around a CPU. Operation signals from the operation input unit 120, detection signals from the position detection unit 130, detection signals from the direction detection unit 140, etc. are input to the processing unit 150. Display signals, etc. are output from the processing unit 150 to the display unit 110. The processing unit 150 is also communicably connected to the robot control device 70 via the cable 11, and they exchange data and control signals with each other.

[0026] Next, the operation of the robot system 1 of this embodiment configured as described above will be described. In particular, the operation when moving the robot main body 20 based on an operation input to the robot operation device 100 will be described. Fig. 6 is a flowchart showing an example of a display control process executed by the processing unit 150. This process is repeatedly executed at predetermined time intervals.

[0027] When the display control process is executed, the processing unit 150 first acquires the rotation angle α about the X axis and the rotation angle β about the Z axis in the base coordinate system (X, Y, Z) from the position detection unit 130 (step S100), and also acquires the rotation angle γ about the X axis and the rotation angle δ about the Z axis in the base coordinate system (X, Y, Z) from the direction detection unit 140 (step S110). Next, the processing unit 150 calculates a rotation matrix R αβ (step S120), and the rotation matrix R is calculated based on the rotation angles γ and δ obtained in step S110 using the following equation (2): γδ (step S130). Next, the processing unit 150 sets the rotation matrix Rαβ and R γδ The coordinate system is converted from the base coordinate system (X, Y, Z) to the controller coordinate system (X', Y', Z') by rotating the base coordinate system (X, Y, Z) using (step S140). FIG. 7 is an explanatory diagram showing the coordinate conversion. The example in the figure shows a case where the base coordinate system (X, Y, Z) is rotated around the Z axis by rotation angles β and δ. As shown in the figure, the controller coordinate system (X', Y', Z') is a coordinate system in which the Z' axis overlaps with the Z axis of the base coordinate system (X, Y, Z), and the X' axis and Y' axis are rotated around the Z axis as a fulcrum by a rotation angle equal to the sum of rotation angles β and δ.

[0028]

number

[0029] After performing the coordinate transformation in this manner, the processing unit 150 displays a robot model on the display unit 110 (step S150) and also displays movement instruction buttons (step S160), and terminates the display control process. FIG. 8 is an explanatory diagram showing the posture of the robot main body as seen from the robot operation device (controller coordinate system). FIG. 9 is an explanatory diagram showing an example of the display of the robot model and movement instruction buttons in the position and direction of the robot operation device in FIG. 8. The robot model 111 displayed on the display unit 110 is an image (projected image) of the robot main body 20 projected onto the X'Z' plane of the controller coordinate system (X', Y', Z'). Furthermore, the multiple movement instruction buttons 112a to 112f displayed on the display unit 110 are six-directional arrow images corresponding to the X-axis direction (front-back direction), Y-axis direction (left-right direction), and Z-axis direction (up-down direction) of the base coordinate system (X, Y, Z). The direction of the arrow of each movement instruction button 112a to 112f indicates the direction of the X-axis direction (front-back direction), Y-axis direction (left-right direction), and Z-axis direction (up-down direction) of the corresponding base coordinate system (X, Y, Z) when projected onto the X'Z' plane of the controller coordinate system (X', Y', Z'). Thus, by touching the position of any of the movement instruction buttons (operation input unit 120), the operator can instruct the robot main body 20 to move in the direction indicated by the movement instruction button among the X-axis direction (front-back direction), Y-axis direction (left-right direction), and Z-axis direction (up-down direction) of the base coordinate system (X, Y, Z). At this time, the robot model 111 is displayed on the display unit 110 in the orientation that the robot main body 20 has when viewed from the robot operation device 100, so that the orientation of the robot main body 20 as viewed by the operator and the orientation of the robot model 111 displayed on the display unit 110 can be matched. This allows the operator to more intuitively operate the robot main body 20 while viewing the robot model 111 displayed on the display unit 110.

[0030] Next, a description will be given of the operation when the operator operates the movement instruction button displayed on the display unit 110. Fig. 10 is a flowchart showing an example of a movement instruction transmission process. This process is repeatedly executed at predetermined time intervals.

[0031] When the movement instruction transmission process is executed, the processing unit 150 first determines whether or not an operation input has been made to any of the movement instruction buttons 112a to 112f (step S200). This process can be performed by determining the coordinates at which the operation input unit 120 detects the operation input. If the processing unit 150 determines that an operation input has not been made to any of the movement instruction buttons, it ends the movement instruction transmission process.

[0032] On the other hand, when the processing unit 150 determines that an operation input has been made to one of the movement instruction buttons, it sets the movement direction and movement amount of the robot main body 20 in the controller coordinate system (X', Y', Z') (step S210). Here, the movement direction can be set by determining which of the movement instruction buttons 112a to 112f has been operated. Furthermore, the movement amount can be set based on the operation time of the movement instruction button. Next, the processing unit 150 calculates the rotation matrix R that is being set in the above-mentioned display control process. αβ Inverse matrix R αβ -1 is set by the following equation (3), and the rotation matrix R γδ Inverse matrix R γδ -1 is set by the following equation (4) (step S220).

[0033]

number

[0034] Next, the processing unit 150 calculates the set inverse matrix R αβ -1 and R γδ -1The processing unit 150 then converts the movement direction and movement amount instructions in the controller coordinate system (X', Y', Z') into instructions in the base coordinate system (X, Y, Z) using the above (step S220). The processing unit 150 then transmits the movement direction and movement amount instructions in the converted base coordinate system (X, Y, Z) to the robot control device 70 (step S230), thereby completing the movement instruction transmission process. The robot control device 70, which has received the movement direction and movement amount instructions, sets a target position for the arm's hand based on the received instructions and controls the corresponding motor by the above-mentioned process so that the hand moves to the set target position. This allows the operator to move the robot main body 20 in any direction within its movable range by operating the robot operation device 100.

[0035] Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be described. That is, the operation input unit 120 of the embodiment corresponds to the input unit of the present disclosure, the processing unit 150 that executes the movement instruction transmission process corresponds to the instruction unit, the display unit 110 corresponds to the display unit, the position detection unit 130 and the direction detection unit 140 correspond to the detection unit, and the processing unit 150 that executes the display control process corresponds to the display control unit.

[0036] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

[0037] For example, in the above-described embodiment, the processing unit 150 transforms the base coordinate system (X, Y, Z) into the controller coordinate system (X', Y', Z') based on the rotation angles α and β from the position detection unit 130 and the rotation angles γ and δ from the direction detection unit 140, and displays the robot model 111 as an image of the robot main body 20 projected onto the X'Z' plane. However, the processing unit 150 may perform the following processing. That is, the processing unit 150 determines whether the rotation angles α and β from the position detection unit 130 and the rotation angles γ and δ from the direction detection unit 140 are approximately the same. This determination is processing to determine whether the robot operating device 100 (operator) is facing the direction of the robot main body 20. When the processing unit 150 determines that the rotation angles α, β and the rotation angles γ, δ match, it converts the base coordinate system (X, Y, Z) into the controller coordinate system (X', Y', Z') based on the rotation angles α, β (or the rotation angles γ, δ), and displays the robot model 111 and the plurality of movement instruction buttons 112a to 112f as an image of the robot main body 20 projected onto the X'Z' plane. On the other hand, when the processing unit 150 determines that the rotation angles α, β and the rotation angles γ, δ do not match, it does not display the robot model 111 and the plurality of movement instruction buttons 112a to 112f. In this way, when the robot operating device 100 (operator) is facing the direction of the robot main body 20, the processing unit 150 displays the robot model 111 in the posture of the robot main body 20 as viewed from that direction, as shown in FIG. 11 . On the other hand, when the robot operating device 100 (operator) is not facing the direction of the robot main body 20, the processing unit 150 displays a message urging the operator to face the robot main body 20 without displaying the robot model, as shown in Fig. 12. This makes it possible to prevent the robot main body 20 from moving due to an unintended operation.

[0038] In the above-described embodiment, the processing unit 150 changes the display directions of the movement instruction buttons 112a to 112f in response to a change in the posture of the robot model 111, but this does not necessarily have to be the case.

[0039] In the above-described embodiment, the robot operating device 100 includes, as detectors, a position detector 130 for detecting the relative position of the robot operating device 100 with respect to the robot main body 20, and a direction detector 140 for detecting the relative direction of the robot operating device 100 with respect to the robot main body 20. However, the robot operating device 100 may omit either the position detector 130 or the direction detector 140.

[0040] In the above-described embodiment, the robot control device 70 and the robot operation device 100 are connected to each other via the cable 11 so as to be able to communicate with each other, but they may also be connected so as to be able to communicate with each other wirelessly.

[0041] The robot operation device of the present disclosure may be configured as follows. That is, in the robot operation device of the present disclosure, the input unit is provided on the display unit, and the display control unit performs a movement direction display that displays movement directions that can be input to the input unit at corresponding positions on the display unit, and the movement direction display may be changed depending on the posture of the robot model displayed on the display unit. This allows the robot operator to operate the robot more intuitively.

[0042] In the robot manipulation device disclosed herein, the instruction unit may change the movement direction input to the input unit to the movement direction of the robot relative to the reference position based on at least one of the relative position and orientation of the robot manipulation device with respect to the reference position of the robot. In this way, by changing the movement direction that can be input to the input unit to a direction that matches at least one of the relative position and orientation of the robot manipulation device with respect to the reference position of the robot, the operator can more intuitively manipulate the robot.

[0043] Furthermore, the present disclosure is not limited to the above-described robot operation device, but may also be in the form of a robot operation method, or a robot system including a robot and a robot operation device. [Industrial Applicability]

[0044] The present disclosure is applicable to industries such as the manufacturing of robots and their operating devices. [Explanation of symbols]

[0045] 1 robot system, 10 robot, 11 cable, 20 robot body, 21 first arm, 22 second arm, 25 base, 26 lifting member, 31 first joint axis, 32 second joint axis, 33 attitude holding axis, 35 first arm drive device, 35a motor, 35b encoder, 36 second arm drive device, 36a motor, 36b encoder, 37 attitude holding device, 37a motor, 37b encoder, 40 lifting device, 41 slider, 42 guide member, 43 ball screw shaft, 44 motor, 45 encoder, 50 three-axis rotation mechanism, 51 first rotation axis, 52 second rotation axis, 53 third rotation axis, 55 first rotation device, 55a motor, 55b encoder, 56 second rotation device, 56a motor, 56b encoder, 57 third rotation device, 57a motor, 57b Encoder, 70 robot control device, 100 robot operation device, 110 display unit, 111 robot model, 112a to 112f movement instruction buttons, 120 operation input unit, 130 position detection unit, 140 direction detection unit, 150 processing unit.

Claims

1. A robot operation device for operating a robot, an input unit for inputting a movement direction; an instruction unit that instructs the robot to move in a movement direction inputted to the input unit; a detection unit that detects a relative position and direction of the robot with respect to a reference position; a display unit capable of displaying a robot model and displaying input from the input unit; a display control unit that determines whether the robot operating device is facing the direction of the robot based on the position and direction detected by the detection unit, and when the robot operating device is facing the direction of the robot, controls the display unit to display the robot model and the input display of the input unit in a posture as seen when the robot is viewed from at least one of the position and direction detected by the detection unit, and when the robot operating device is not facing the direction of the robot, displays a message urging the user to face the direction of the robot without displaying the robot model and the input display of the input unit; A robot operation device comprising:

2. The robot operation device according to claim 1, the input unit is provided on the display unit, the display control unit performs a movement direction display by displaying movement directions that can be input to the input unit at corresponding positions on the display unit, and changes the movement direction display according to the posture of the robot model displayed on the display unit. Robotic operating device.

3. The robot operation device according to claim 1 or 2, the instruction unit changes the movement direction input to the input unit based on at least one of the relative position and direction of the robot operation device with respect to a reference position of the robot; Robotic operating device.

4. By inputting the direction of movement and instructing the robot to move in the input direction, the robot A robot operation method for operating a robot, When operating the robot, at least one of a position and a direction of the robot relative to a reference position is detected, and a robot model is displayed in a posture as seen from at least one of the detected position and direction. How to operate a robot.

5. Robots and a display unit capable of displaying a robot model and an input display of the input unit; and a display control unit that determines whether or not a robot operating device is facing the direction of the robot based on the position and direction detected by the detection unit, and when the robot operating device is facing the direction of the robot, controls the display unit to display the robot model and the input display of the input unit in a posture when the robot is viewed from at least one of the position and direction detected by the detection unit, and when the robot operating device is not facing the direction of the robot, displays a message urging the user to face the direction of the robot without displaying the robot model and the input display of the input unit. A robot system comprising:

Images