Joystick System

Abstract

To provide a joystick system with high operability.SOLUTION: A joystick system 100 for indicating a change in posture of a robot R comprises a stick 20, a sensor 10 at one end side of the stick 20, and a posture change mode selector 21 that selects a posture change mode for an instruction to change the posture of the robot R when contacted by a user. The posture change mode selector 21 is at the other end side of the stick 20.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] A joystick-type controller is used as a means for controlling the robot. Patent Document 1 discloses a device for selectively commanding the position or speed of a hand of a manipulator, which is operated by tilting a joystick. Patent Document 2 discloses a device that controls multiple operating systems. The joystick of this device is provided with multiple operating areas. The device detects which of the multiple operating areas an operating force is applied to. The device also detects the magnitude of the applied operating force. The device obtains a control signal for the operating system based on the detected operating position and operating force. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 63-288687 [Patent Document 2] Japanese Patent Application Laid-Open No. 2001-138276 Summary of the Invention [Problem to be solved by the invention]

[0004] The conventional joystick system has room for improvement in terms of operability.

[0005] The present invention has been made in view of the above-mentioned circumstances, and has as its object to provide a joystick system with high operability. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention proposes the following means. The joystick system of the present invention is a joystick system for instructing a change in the posture of a robot, and is characterized in that it comprises 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 contacted by a user, and the posture change mode selection unit is provided on the other end of the stick.

[0007] According to this invention, the sensor is provided on one end of the stick. The attitude change mode selection unit is provided on the other end of the stick. As a result, a force applied by a user to the stick while in contact with the attitude 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 attitude of the robot. Therefore, for example, when a user wants to tilt the attitude of the robot, the user can instruct the robot to change its attitude by applying a force to tilt the stick.

[0008] By providing the sensor and the attitude change mode selector at both ends of the stick, a sufficient distance can be provided between the sensor and the attitude change mode selector. This allows the force moment around the sensor to be generated efficiently with less force, allowing the joystick system to be operated with less force.

[0009] The stick may also include an in-plane position change mode selection unit that selects an in-plane position change mode for instructing a change in the position of the robot on a specified plane when contacted by a user, and the in-plane position change mode selection unit may be provided on one end side 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 located closer to the sensor on the stick than the attitude change mode selection unit. As a result, a 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 position of the robot. Therefore, for example, when a user wants to move the position of the robot in a translational direction, the user can issue an instruction to change the position of the robot by applying a force to the stick in the translational direction.

[0011] The in-plane position change mode selection unit may also include a first in-plane position change mode selection unit and a second in-plane position change mode selection unit, and the first in-plane position change mode selection unit and the second in-plane position change mode selection unit may be 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 units are arranged in the following order from the sensor side: first in-plane position change mode selection unit, then second in-plane position change mode selection unit. 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. This allows the user to smoothly move their hand between the second in-plane position change mode selection unit and the posture change mode selection unit. Therefore, when changing the position of the robot using the second in-plane position change mode selection unit, it is possible to more efficiently change the posture of the robot and switch between changing its position, compared to when using the first in-plane position change mode selection unit.

[0013] 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, thereby making it easier for the user to apply horizontal force to the first in-plane position change mode selection unit than to the second in-plane position change mode selection unit.

[0014] In order to transmit a horizontal force to the sensor, it is preferable to reduce the generation of a moment due to the horizontal force by shortening the distance between the part where the force is applied and the sensor. 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 a 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 more efficiently with a smaller force than when a force is applied to the stick from the second in-plane position change mode selection unit. Therefore, for example, even if the user's force is relatively small, the robot's position can be easily changed.

[0015] The device may further include a vertical direction position change mode selection unit that, when contacted by a user, selects a vertical direction position change mode for instructing a change in the position of the robot in a direction perpendicular to the specified plane, and the vertical direction position change mode selection unit may be provided in a part of the stick between the attitude change mode selection unit and the in-plane position change mode selection unit.

[0016] Here, the attitude 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, and the vertical direction position change mode selection unit is preferably located in a position 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 provided on the stick in a portion between the attitude change mode selection unit and the in-plane position change mode selection unit. Thus, the vertical position change mode selection unit can be arranged on the stick while maintaining the above-described preferred arrangement. Furthermore, if the vertical position change mode selection unit is located at either end of the stick, when a user grasps the vertical position change mode selection unit, the user cannot grasp the vertical position change mode selection unit with all of the fingers of the user's hand. As a result, one of the fingers may come off the stick. By arranging the vertical position change mode selection unit at the above-described position (a position that is not at the end of the stick), the user can easily grasp the vertical position change mode selection unit with all of the fingers of the user's hand. Therefore, it is possible to easily operate the robot using the vertical position change mode selection unit.

[0018] The vertical position change mode selection section may further include a protrusion provided on each of the one end and the other end of the vertical position change mode selection section.

[0019] According to this invention, a protrusion is provided on each of one end side and the other end side of the vertical direction position change mode selection unit. This allows the user to hook their finger on the protrusion when operating the vertical direction position change mode selection unit. This makes it easier to operate the robot using the vertical direction position change mode selection unit.

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

[0021] According to this invention, the dial panel is used to instruct a change in the position of the attachment in a direction perpendicular to a predetermined plane, thereby allowing the robot's posture and position to be controlled by the stick and the attachment to be controlled by the dial panel to be controlled simultaneously.

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

[0023] The dial may be located at a position that can be reached by the thumb of the user when the user holds the stick.

[0024] According to this invention, the dial is located in a position that is within reach of the user's thumb when gripping the stick. This allows the user to operate the dial with just their thumb without releasing their hand from the stick. This makes it easier to operate the robot and attachment simultaneously.

[0025] The robot may further include a position / posture change mode selection unit that, when contacted by a user, selects a position / posture change mode for instructing changes to both the position and posture of the robot, and the position / posture change mode selection unit may be provided in a portion of the stick between the posture change mode selection unit and the vertical direction position change mode selection unit.

[0026] According to this invention, the position / attitude change mode selection section is provided in the stick portion between the attitude change mode selection section and the vertical direction position change mode selection section. In other words, the position / attitude change mode selection unit is located closer to the other end of the stick than the vertical position change mode selection unit. This allows the distance between the position / attitude change mode selection unit and the sensor to be a distance sufficient to generate a force moment around the sensor when a force is applied to the position / attitude change mode selection unit. Therefore, when a force is applied from the position / attitude change mode selection unit to tilt the stick, a force moment around the sensor can be generated. Therefore, the posture of the robot can be changed by the position / attitude change mode selection unit.

[0027] Furthermore, the position / posture change mode selection unit is located on the stick closer to the sensor than the posture change mode selection unit. This makes it easier to transmit a horizontal force to the sensor when the horizontal force is applied to the position / posture change mode selection unit. Therefore, the position of the robot can be changed by the position / posture change mode selection unit.

[0028] In this way, by locating the position / posture change mode selection unit in the above-mentioned location, it is possible to change the posture and position of the robot using only the position / posture change mode selection unit. This embodiment provides a significant advantage when precision is not required when changing the robot's posture and position. Specifically, for example, the robot can be easily moved when simply moving the robot closer to an object before performing detailed positioning with respect to the object.

[0029] The orientation change mode selection unit, the in-plane position change mode selection unit, the vertical direction position change mode selection unit, and the position / orientation change mode selection unit may each include a touch sensor.

[0030] According to this invention, the orientation change mode selection unit, the in-plane position change mode selection unit, the vertical direction position change mode selection unit, and the position / orientation change mode selection unit each include a touch sensor. This allows the user to select each of the above modes simply by touching the touch sensor. Therefore, the user can select each mode without the need for complex operations.

[0031] Here, sensors (for example, force sensors) generally process the applied translational force or force moment as an analog value. In other words, sensors do not have the concept of ON or OFF. Therefore, depending on the setting of the threshold value for the translational force or force moment, there is a risk that this could cause the joystick system to malfunction. In contrast, by using a touch sensor, it is possible to reliably switch between modes. In other words, it is possible to reliably switch between enabling and disabling input to the sensor. This makes it possible to operate a robot using a joystick system more safely.

[0032] The robot may also be characterized by further comprising a button provided at the other end of the stick, and the amount by which the position and posture of the robot are changed by operating the stick may vary depending on whether the button is pressed or not.

[0033] According to this invention, the amount by which the position and posture of the robot are changed by operating the stick varies depending on whether the button is pressed or not. For example, if the amount of change in the position and posture of the robot increases when the button is pressed, the robot's movement speed can be increased by operating the stick, allowing the robot to approach the target object more quickly. For example, if the amount of change in the robot's position and orientation is reduced when the button is pressed, the robot's movement speed can be slowed down by operating the stick, making it easier to perform more precise positioning of the robot. In either case, it can be said that after the robot approaches the object with the button pressed or not pressed and the movement speed increasing, it becomes easier to perform more detailed positioning of the robot by pressing the button or not pressing it and the movement speed decreasing.

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

[0035] According to this invention, the sensor is provided at a predetermined position on the attachment. That is, the stick on which the sensor is provided is attached to the attachment provided on the robot. Therefore, when the stick is operated to move the robot and the attachment, the stick also moves in the same way. Therefore, the user can use the stick to operate the robot as if they were directly moving it manually. This allows the user to operate the robot more intuitively.

[0036] Furthermore, a third aspect of the joystick system according to the present invention is a joystick system for instructing both the position and posture of a robot, comprising: a stick including a first portion, a second portion, and a third portion; a sensor provided on the stick; a posture change mode selection unit provided on the stick and configured to select, when contacted by a user, an posture change mode for instructing a change in the posture of the robot; an in-plane position change mode selection unit provided on the stick and configured to select, when contacted by a user, an in-plane position change mode for instructing a change in the position of the robot on a predetermined plane; a vertical position change mode selection unit provided on the stick and configured to select, when contacted by a user, 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 posture change mode selection unit, the in-plane position change mode selection unit, and the vertical position change mode selection unit with the first portion, the second portion, and the third portion, respectively.

[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 the first portion, the second portion, and the third portion, respectively. This allows the setting unit to select whether each of the above-mentioned mode selection units is located in the first portion, the second portion, or the third portion. In other words, by providing the setting unit, the placement of each selection unit can be improved depending on the shape of the stick and the shape of the robot. This makes it easier to select each of the above-mentioned modes using the stick to suit the user's needs. This further improves the convenience of the joystick system. [Effects of the Invention]

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

[0039] [Figure 1] 1 is a schematic diagram of a joystick system according to the present invention; [Figure 2] FIG. 2 is a block diagram showing the relationship between the joystick system, the robot, and the attachment. [Figure 3] FIG. 10 is a diagram visualizing the force applied to the stick and the part to which the force is applied. [Figure 4] FIG. 1 is a schematic diagram of a user operating a joystick system with his or her hands. [Figure 5] This is a modified version of the joystick system. DETAILED DESCRIPTION OF THE INVENTION

[0040] (First embodiment) A joystick system 100 according to an embodiment of the present invention will now be described with reference to the drawings. The joystick system 100 according to this embodiment is used to remotely control a robot R, for example. The 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 three axial directions in a three-dimensional Cartesian coordinate system and rotated around each of the three axes. In this embodiment, an attachment A is attached to the tip of the arm of the robot R.

[0041] The attachment A is, for example, a part that comes into direct contact with the object O. The attachment A is moved to the vicinity of the object O by the arm of the robot R. The attachment A moves along a direction perpendicular to a predetermined plane. In the first embodiment, the predetermined plane refers to a plane that is 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, the attachment A moves along the axial direction of the tip of the arm. Specifically, for example, the attachment A has one end attached to the robot R, and the other end moves so as to extend and retract. In other words, in this embodiment, the attachment A is capable of moving in one axial direction. This allows the attachment A to approach and come into contact with the object O.

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

[0043] (Control Mode of Joystick System 100) The joystick system 100 has an attitude change mode, an in-plane position change mode, a vertical position change mode, and a position / attitude change mode as control modes for operating the robot R. While any of the above control modes is selected in the joystick system 100, the joystick system 100 is controlled so that, for example, other control modes do not function. While any of the above control modes is selected in the joystick system 100, the joystick system 100 may be controlled so that other control modes function simultaneously.

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

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

[0046] (Concerning components of the joystick system 100) 1, 2, and 3, the joystick system 100 includes a control unit C, a sensor 10, a stick 20, and a dial panel 30. As shown in FIG. 4, the joystick system 100 is used by a user U holding the stick 20 in his / her hand.

[0047] The control unit C controls the joystick system 100. The control unit C controls the joystick system 100 by appropriately processing inputs made by the user U to the stick 20 or dial panel 30. The control unit C may be located at a position separated from the stick 20 and dial panel 30, or may be built into the stick 20 and dial panel 30, for example.

[0048] The control unit C includes, for example, a processor such as a central processing unit (CPU) and a memory connected via a bus, and controls the joystick system 100 by executing a preconfigured control program. The control unit C may also be realized using hardware such as an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field programmable gate array (FPGA). The program may be recorded on a computer-readable recording medium. Examples of the computer-readable recording medium include portable media such as a flexible disk, a magneto-optical disk, a ROM, and a CD-ROM, and storage devices such as a hard disk built into a computer system. The program may also be transmitted via a telecommunications line.

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

[0050] As shown in FIG. 3, the horizontal force FL is a translational force input to the stick 20 from any direction in a plane including the direction perpendicular to the first axis X and the direction perpendicular to the second axis Y. The vertical force FV is a translational force input from the axial direction Z of the stick 20. The moment FM is a force moment 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 the user U to operate the robot R. As shown in FIGS. 1 and 3 , the stick 20 includes an attitude change mode selection unit 21, an in-plane position change mode selection unit 22, a vertical direction position change mode selection unit 23, a protrusion 25, a position / attitude 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 direction position change mode selection unit 23, and the position / posture change mode selection unit 24 includes a touch sensor. The control unit C selects each of the above-mentioned control modes by detecting that the user U has touched the touch sensor.

[0053] (Regarding the posture change mode selection unit 21) The posture change mode selection unit 21 is used when the user U instructs a change in the posture of the attachment A. The control unit C selects the posture change mode when the user U touches the posture change mode selection unit 21. This makes it possible to change the posture of the attachment A. When changing the attitude of the attachment A, the user U applies a translational force by pushing or pulling the stick 20 in a direction perpendicular to the axial direction Z while holding the attitude change mode selection unit 21. The horizontal force FL generated at this time generates a moment FM. At this time, the 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 in which the attachment A is rotated by the arm of the robot R. For example, the robot R rotates the attachment A so that the attachment A moves around the tip of the attachment A as the center of rotation in the same direction as the direction in which the horizontal force FL is applied as seen from the user U. For example, if the moment FM is generated in the first axis perpendicular direction X, the robot R rotates the attachment A around the tip of the attachment A as the center of rotation, drawing an arc toward the first axis perpendicular direction X as seen from the user U. If the moment FM is generated in the second axis perpendicular direction Y or another direction, the robot R may rotate the attachment A around the tip of the attachment A as the center of rotation, drawing an arc toward the second axis perpendicular direction Y or another direction as seen from the user U.

[0055] The magnitude of the moment FM is reflected, for example, in the rotation speed of the attachment A. For example, when the magnitude of the moment FM is relatively small, the robot R slows down the rotation speed of the attachment A. When the magnitude of the moment FM is relatively large, the robot R may increase the rotation speed of the attachment A. The threshold value of the magnitude of the moment FM when changing the rotation speed may be changeable as appropriate, for example, in accordance with the force with which the user U operates the stick 20.

[0056] As shown in Fig. 1, the attitude change mode selection unit 21 is provided on the other end side 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 a 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 the user U instructs a change in the position of the robot R on a predetermined plane. The control unit C selects the in-plane position change mode when the user U touches the in-plane position change mode selection unit 22. This makes it possible to change the position of the attachment A on the predetermined plane. When changing the position of the attachment A, the user U applies 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, the 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 in which the attachment A is moved by the arm of the robot R. For example, the robot R moves the attachment A in the same direction as the direction in which the horizontal force FL is applied, as seen from the user U. For example, if the horizontal force FL is applied in the direction perpendicular to the first axis X, the robot R moves the attachment A in the direction perpendicular to the first axis X, as seen from the user U. If the horizontal force FL is applied in the direction perpendicular to the second axis Y or another direction, the robot R may move the attachment A in the direction perpendicular to the second axis Y or another direction, as seen from the user U.

[0059] The magnitude of the horizontal force FL is reflected, for example, in the movement speed of the attachment A. For example, the robot R may slow down the movement speed of the attachment A when the magnitude of the horizontal force FL is relatively small. The robot R may also speed up the movement speed of the attachment A when the magnitude of the horizontal force FL is relatively large. The threshold value of the magnitude of the horizontal force FL when changing the movement speed may be changeable as appropriate, for example, in accordance with the force with which the user U operates the stick 20.

[0060] 1, the in-plane position change mode selection unit 22 is provided on one end side of the stick 20. This makes it difficult for a moment FM to be generated by the horizontal force FL, thereby making it easier to transmit 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 disposed at a position closer to the sensor 10 in the axial direction Z than the second in-plane position change mode selection unit 22b. This preferably makes it easier for the first in-plane position change mode selection unit 22a to transmit the horizontal force FL to the sensor 10.

[0062] Furthermore, the second in-plane position change mode selection unit 22b is disposed closer to the attitude change mode than the first in-plane position change mode selection unit 22a, which preferably facilitates smooth movement of the user U's hand between the second in-plane position change mode selection unit 22b and a portion of the stick 20 that is located on the other end side of the second in-plane position change mode selection unit 22b.

[0063] 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 to grasp with the hand of the user U than the second in-plane position change mode selection unit 22b. This preferably makes it easier for the user U to apply a horizontal force FL to the first in-plane position change mode selection unit 22a.

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

[0065] When changing the position of the attachment A, the user U applies a translational force by pushing or pulling the stick 20 toward one end or the other end in the axial direction Z while holding the vertical position change mode selection unit 23. This generates a vertical force FV. At this time, the 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 normal force FV is applied is reflected, for example, in the direction in which the attachment A is moved by the arm of the robot R. For example, the robot R moves the attachment A in the same direction as the direction in which the normal force FV is applied, as seen from the user U. For example, when the normal force FV is applied to one end of the stick 20, the attachment A is moved toward one end of the stick 20 as seen from the user U. When the normal force FV is applied to the other end of the stick 20, the attachment A may be moved toward the other end of the stick 20 as seen from the user U.

[0067] The magnitude of the vertical force FV is reflected, for example, in the movement speed of the attachment A. For example, when the magnitude of the vertical force FV is relatively small, the robot R slows down the movement speed of the attachment A. When the magnitude of the vertical force FV is relatively large, the robot R may increase the movement speed of the attachment A. The threshold value of the magnitude of the vertical force FV when changing the movement speed may be changeable as appropriate, for example, in accordance with the force with which the user U operates the stick 20.

[0068] 1 and 3, the vertical direction position change mode selection unit 23 is provided in a portion of the stick 20 between the attitude change mode selection unit 21 and the in-plane position change mode selection unit 22. This preferably maintains a suitable 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 a 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 its directions. In contrast, when applying a translational force to the vertical direction position change mode selection unit 23, the user U needs to grip the vertical direction position change mode selection unit 23 with the entire hand. By arranging the vertical direction position change mode selection unit 23 in the above-mentioned position, it is preferable that the user U can easily grip the vertical direction position change mode selection unit 23 with the entire fingers of the hand.

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

[0071] When changing the posture of the attachment A, the user U applies a translational force by pushing or pulling the stick 20 in a direction perpendicular to the axial direction Z while holding the position / posture change mode selection unit 24. The horizontal force FL generated at this time generates a moment FM. At this time, the 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 in which the attachment A is rotated by the arm of the robot R. For example, the robot R rotates the attachment A so that the attachment A moves around the tip of the attachment A as the center of rotation in the same direction as the direction in which the horizontal force FL is applied as seen from the user U. For example, if the moment FM is generated in the first axis perpendicular direction X, the robot R rotates the attachment A around the tip of the attachment A as the center of rotation, drawing an arc toward the first axis perpendicular direction X as seen from the user U. If the moment FM is generated in the second axis perpendicular direction Y or another direction, the robot R may rotate the attachment A around the tip of the attachment A as the center of rotation, drawing an arc toward the second axis perpendicular direction Y or another direction as seen from the user U.

[0073] The magnitude of the moment FM is reflected, for example, in the rotation speed of the attachment A. For example, when the magnitude of the moment FM is relatively small, the robot R slows down the rotation speed of the attachment A. When the magnitude of the moment FM is relatively large, the robot R may increase the rotation speed of the attachment A. The threshold value of the magnitude of the moment FM when changing the rotation speed may be changeable as appropriate, for example, in accordance with the force with which the user U operates the stick 20.

[0074] When changing the position of the attachment A, the user U applies a translational force by pushing or pulling the stick 20 in a direction perpendicular to the axial direction Z while holding the position / posture change mode selection unit 24. This generates a horizontal force FL. At this time, the 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 in which the attachment A is moved by the arm of the robot R. For example, the robot R moves the attachment A in the same direction as the direction in which the horizontal force FL is applied, as seen from the user U. For example, if the horizontal force FL is applied in the direction perpendicular to the first axis X, the robot R moves the attachment A in the direction perpendicular to the first axis X, as seen from the user U. If the horizontal force FL is applied in the direction perpendicular to the second axis Y or another direction, the robot R may move the attachment A in the direction perpendicular to the second axis Y or another direction, as seen from the user U.

[0076] The magnitude of the horizontal force FL is reflected, for example, in the movement speed of the attachment A. For example, the robot R may slow down the movement speed of the attachment A when the magnitude of the horizontal force FL is relatively small. The robot R may also speed up the movement speed of the attachment A when the magnitude of the horizontal force FL is relatively large. The threshold value of the magnitude of the horizontal force FL when changing the movement speed may be changeable as appropriate, for example, in accordance with the force with which the user U operates the stick 20.

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

[0078] Furthermore, the position / attitude change mode selection unit 24 is located at a position 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 / attitude change mode selection unit 24. In this way, by locating the position / posture change mode selection unit 24 in the above-mentioned location, it becomes possible to change the posture and position of the attachment A using only the position / posture change mode selection unit 24 .

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

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

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

[0082] When operating the vertical direction position change mode selection unit 23, the user U preferably hooks his / her finger on the first protrusion 25a or the second protrusion 25b. This makes it easier for the user U to apply a vertical force FV to the stick 20. This preferably makes it easier for the user U to operate the robot R using the vertical direction position change mode selection unit 23.

[0083] When operating the position / posture change mode selection unit 24, the user U preferably hooks his / her fingers on the second protrusion 25b and the third protrusion 25c. It is preferable that the user U hooks his / her fingers on the third protrusion 25c and the fourth protrusion 25d when operating the posture change mode selection unit 21. Alternatively, the user U may operate the posture change mode selection unit 21 by touching only part of his / her finger to the posture change mode selection unit 21 and grasping the fourth protrusion 25d with his / her entire hand. It is preferable that the user U grip the stick 20 in the manner described above to make it easier to operate the robot R using the stick 20. However, without being limited to the above, the user U may appropriately select the protrusion 25 on which the user's fingers are hooked when operating the stick 20, according to the size of their hand.

[0084] (About Button 26) 1 and 3, the button 26 is provided on the other end of the stick 20. The joystick system 100 changes the amount by which the position and posture of the robot R are changed by operating the stick 20, depending on whether the button 26 is pressed or not. This improves the convenience of the user U in operating the robot R. For example, this makes it possible to more quickly bring the attachment A of the robot R closer to the object O, or to more easily perform precise positioning of the attachment A relative to the object O.

[0085] Specifically, for example, the user U presses the button 26 when instructing a change in the position of the robot R in each of the control modes described above. The joystick system 100 increases the movement speed of the robot R based on the pressing of the button 26. The joystick system 100 may also decrease the movement speed of the robot R based on the pressing of the button 26.

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

[0087] (About dial 30) The dial panel 30 is used to instruct a change in the position of the attachment A in a direction perpendicular to a predetermined plane. The dial panel 30 is, for example, a disk-shaped member as shown in Fig. 1. The dial panel 30 preferably has an indentation along its outer periphery for the user U to hook their finger on.

[0088] The dial panel 30 is rotatable about an axis extending in any direction perpendicular to the axial direction Z. For example, when the user U rotates the dial panel 30 in one direction, the tip of the attachment A approaches the object O. When the user U rotates the dial panel 30 in the other direction, the tip of the attachment A may move away from the object O.

[0089] The dial panel 30 is provided near the vertical direction position change mode selection unit 23. This preferably allows the user U to operate the dial panel 30 with only one finger. Here, when the user U grips the stick 20, the user U first places the palm of their hand on the stick 20. Then, the user bends the four fingers other than the thumb and grips the stick 20 so as to wrap around it. The dial panel 30 is preferably provided in a position that can be reached by the thumb of the user U while the user U is gripping the stick 20 as described above, for example.

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

[0091] In FIG. 4, the dial panel 30 is disposed on the left side of the stick 20 as viewed from the user U. Therefore, the user U holds the stick 20 with his / her right hand. However, the dial panel 30 may be disposed on the right side of the stick 20 as viewed from the user U so that it can be operated with the left hand. The position of the dial panel 30 may be changeable so that it can be operated with either hand. Alternatively, the dial panel 30 may be provided on each side of the stick 20.

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

[0093] By providing the sensor 10 and the attitude change mode selection unit 21 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. This allows the force moment around the sensor 10 to be generated efficiently with less force. This allows the joystick system 100 to 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 arranged on the stick 20 closer to the sensor 10 than the attitude change mode selection unit 21. As a result, a 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. Therefore, for example, when the user U wants to move the position of the robot R in a translational direction, the user U can issue an instruction to change the position of the robot R by applying a force to the stick 20 in the translational direction.

[0095] Furthermore, the in-plane position change mode selection units 22 are arranged in the following order from the sensor 10 side: the first in-plane position change mode selection unit 22a and the second in-plane position change mode selection unit 22b. That is, 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. This allows the user U to smoothly move his / her hand between the second in-plane position change mode selection unit 22b and the posture change mode selection unit 21. Therefore, when changing the position of the robot R using the second in-plane position change mode selection unit 22b, it is possible to more efficiently change the posture and switch the position of the robot R compared to when using the first in-plane position change mode selection unit 22a.

[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. This makes it easier for the user U to apply horizontal force to the first in-plane position change mode selection unit 22a than to the second in-plane position change mode selection unit 22b.

[0097] Incidentally, in order to transmit a horizontal force to the sensor 10, it is preferable to reduce the generation of a moment due to the horizontal force by shortening the distance between the part where the force is applied and the sensor 10. 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 a force is applied to the stick 20 from the first in-plane position change mode selection unit 22a, the horizontal force can be transmitted to the sensor 10 more efficiently with a smaller force than when a force is applied to the stick 20 from the second in-plane position change mode selection unit 22b. Therefore, for example, even when the force of the 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. Moreover, the vertical direction position change mode selection unit 23 is preferably located in a position where the user U can grip it with all of his or her fingers in order to make it easier to apply force in the axial direction of the stick 20.

[0099] The vertical position change mode selection unit 23 is provided in a portion of the stick 20 between the posture change mode selection unit 21 and the in-plane position change mode selection unit 22. Therefore, the vertical position change mode selection unit 23 can be arranged on the stick 20 while maintaining the above-described preferred arrangement. Furthermore, if the vertical position change mode selection unit 23 is located at either end of the stick 20, when the user U grasps the vertical position change mode selection unit 23, the user U cannot grasp the vertical position change mode selection unit 23 with all of the fingers of the hand. As a result, one of the fingers may come off the stick 20. By arranging the vertical position change mode selection unit 23 in the above-described position (a position that is not at the end of the stick 20), the user U can easily grasp the vertical position change mode selection unit 23 with all of the fingers of the hand. Therefore, it is possible to easily operate the robot R using the vertical position change mode selection unit 23.

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

[0101] The dial panel 30 is also used to instruct a change in the position of the attachment A in a direction perpendicular to a predetermined plane. This allows the operation of the posture and position of the robot R using the stick 20 and the operation of the attachment A using the dial panel 30 to be performed simultaneously.

[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, dial panel 30 is provided near vertical position change mode selection unit 23. This allows user U to operate vertical position change mode selection unit 23 of stick 20 and dial panel 30 simultaneously with one hand. This makes it easier for user U to adjust the vertical position of the tip of attachment A.

[0103] Furthermore, the dial panel 30 is provided in a position that can be reached by the thumb of the user U when the user U grips the stick 20. This allows the user U to operate the dial panel 30 with only the thumb, without releasing the stick 20. This makes it easier to operate the robot R and the attachment A simultaneously.

[0104] The position / attitude change mode selection unit 24 is provided on the stick 20 between the attitude change mode selection unit 21 and the vertical direction position change mode selection unit 23 . In other words, the position / posture change mode selection unit 24 is located closer to the other end of the stick 20 than the vertical position change mode selection unit 23. This allows the distance between the position / posture change mode selection unit 24 and the sensor 10 to be a distance sufficient for generating a force moment around the sensor 10 when a force is applied to the position / posture change mode selection unit 24. Therefore, when a force is applied from the position / posture change mode selection unit 24 to tilt the stick 20, a force moment around the sensor 10 can be generated. Therefore, the posture of the robot R can be changed by the position / posture change mode selection unit 24.

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

[0106] In this way, by locating the position / posture change mode selection unit 24 in the above-mentioned location, the posture and position of the robot R can be changed by the position / posture change mode selection unit 24 alone. This embodiment provides a significant operational effect when precision is not required when changing the posture and position of the robot R. Specifically, for example, when simply bringing the robot R close to an object before performing detailed positioning with respect to the object, the robot R can be moved easily.

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

[0108] Here, the sensor 10 (for example, a force sensor) generally processes the applied translational force or force moment as an analog value. In other words, the sensor 10 does not have the concept of ON or OFF. Therefore, depending on the setting of the threshold value of the translational force or force moment, there is a risk that the joystick system 100 may malfunction. In contrast, by using a touch sensor, it is possible to reliably switch between modes. In other words, it is possible to reliably switch between valid and invalid input to the sensor 10. Therefore, it is possible to operate the robot R using the joystick system 100 more safely.

[0109] Furthermore, the amount by which the position and posture of the robot R are changed by operating the stick 20 varies depending on whether the button 26 is pressed or not. For example, if the amount of change in the position and posture of the robot R increases when the button 26 is pressed, the movement speed of the robot R can be increased by operating the stick 20. Therefore, the robot R can be made to approach the target object more quickly. For example, if the amount of change in the position and posture of the robot R is reduced when the button 26 is pressed, the movement speed of the robot R can be slowed down by operating the stick 20. This makes it easier to perform more detailed positioning of the robot R. In either case, it can be said that after the robot R is brought closer to the object with the button 26 pressed or not pressed and the movement speed increasing, it becomes easier to perform more detailed positioning of the robot R with the button 26 not pressed or pressed and the movement speed decreasing.

[0110] (Second embodiment) Next, a second joystick system 200 according to a second embodiment of the present invention will be described with reference to FIG. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted, with only the differences being described. The second joystick system 200 according to this embodiment commands both the position and the orientation of the robot R.

[0111] The second joystick system 200 includes a sensor 10, a stick 20, a dial panel 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 a second robot 210 and a second attachment 220 are provided as part of the configuration.

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

[0113] That is, the sensor 10 and the stick 20 are directly provided on the second attachment 220. Therefore, when the second attachment 220 is moved using the stick 20, the stick 20 also moves in conjunction with the second attachment 220. In this respect, it differs from the joystick system 100, which is configured to remotely control the robot R and the attachment A using the stick 20.

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

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

[0116] In the second joystick system 200, the robot R moves the attachment A directly above the object O. Then, the robot R moves the tip of the second attachment 220 along a direction perpendicular to the predetermined plane. As a result, the tip of the attachment A approaches and comes into 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. That is, 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 stick 20 is operated to move the second robot 210 and the second attachment 220, the stick 20 also moves in the same manner. Therefore, the user U can use the stick 20 to operate the second robot 210 as if he or she were directly moving the second robot 210 manually. This allows the user U 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 components as those in the first and second embodiments are denoted by the same reference numerals, and the description thereof will be omitted, with only the differences being described.

[0119] The third joystick system according to this embodiment commands both the position and the orientation of the robot R and the attachment A. The third joystick system may command both the position and the 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 the second joystick system 200.

[0120] The third joystick system includes a sensor 10, a second stick (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 the third joystick system includes a second stick and a setting unit.

[0121] The sensor 10 is provided on a second stick, which includes a first portion, a second portion, and a third portion. The second stick includes at least an attitude change mode selection unit 21, an in-plane position change mode selection unit 22, and a vertical direction position change mode selection unit 23. These components are similar to 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 direction 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 positions of the above-mentioned mode selection units on the stick 20 by the setting unit.

[0123] The setting unit includes, for example, at least a recording device that records setting instructions from the user U, and a processing unit that can switch the application of the control mode appropriately based on the recording. In this embodiment, these components are provided, for example, inside the control unit C. The setting instructions by the 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 be provided with a separate interface for the 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 the first portion, the second portion, and the third portion, respectively. This allows the setting unit to select whether the position of each of the above-mentioned mode selection units is located in the first portion, the second portion, or the third portion. In other words, providing the setting unit allows the placement of each selection unit to be improved depending on the shape of the stick 20 and the shape of the robot R. This makes it easier to select each of the above-mentioned modes using the second stick in accordance with the needs of the user U. This further improves the convenience of the third joystick system.

[0125] The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, in the present embodiment, the robot R is described as being movable in three axial directions and the attachment A is described as being movable in one axial direction, but this is not limiting. Each joystick system according to the present embodiment may be applied to a robot having any other degrees of freedom, for example.

[0126] In addition, within the scope of the spirit of the present invention, the components in the above-described 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 Attitude change mode selection section 22 In-plane position change mode selection section 22a First in-plane position change mode selection unit 22b Second in-plane position change mode selection unit 23 Vertical position change mode selection section 24 Position and posture change mode selection section 25 protrusion 26 buttons 30 Dial Panel 100 Joystick System 200 Second Joystick System A Attachment R Robot U User

Claims

1. A joystick system for instructing a change in the posture of a robot, a stick whose base is fixed to an operation panel or a robot; a detection sensor provided on the base and configured to detect a moment and / or translational force of a force input to the stick; a posture change mode selection unit that selects a posture change mode for instructing a change in posture of the robot when contacted by a user, the attitude change mode selection unit is provided on the tip side of the stick, transmitting a signal for instructing the change in the attitude change mode in response to a result of detection by the detection sensor; A joystick system characterized by:

2. an in-plane position change mode selection unit that selects, when contacted by a user, an in-plane position change mode for instructing a change in the position of the robot on a predetermined plane; Equipped with the in-plane position change mode selection unit is provided on the base side of the stick, transmitting a signal for instructing the change in the in-plane position change mode in response to a result of the detection by the detection sensor; 2. The joystick system of claim 1.

3. The in-plane position change mode selection unit a first in-plane position change mode selection unit; a second in-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 this order from the base side of the stick: the first in-plane position change mode selection unit, the second in-plane position change mode selection unit; the first in-plane position change mode selection portion is larger than the second in-plane position change mode selection portion when viewed along the longitudinal direction of the stick; 3. The joystick system according to claim 2.

4. a vertical direction position change mode selection unit that, when touched by a user, selects a vertical direction position change mode for instructing a change in the position of the robot in a direction perpendicular to the predetermined plane, the vertical direction position change mode selection unit is provided in a portion of the stick between the attitude change mode selection unit and the in-plane position change mode selection unit, transmitting a signal to instruct the change in the vertical direction position change mode in response to a result of the detection by the detection sensor; 4. A joystick system according to claim 2 or 3.

5. a protrusion is provided on each of the base side of the stick of the vertical direction position change mode selection unit and the tip side of the stick of the vertical direction position change mode selection unit; 5. The joystick system according to claim 4.

6. a dial panel, The robot is provided 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 is provided near the vertical direction position change mode selection unit.

6. A joystick system according to claim 4 or 5.

7. the dial is provided at a position that can be reached by the thumb of a user when the user holds the vertical direction position change mode selection unit; 7. The joystick system of claim 6.

8. a position / posture change mode selection unit that, when contacted by a user, selects a position / posture change mode for instructing changes to both the position and the posture of the robot; the position / attitude change mode selection unit is provided in a portion of the stick between the attitude change mode selection unit and the vertical direction position change mode selection unit, transmitting a signal for instructing the change in the position and attitude change mode in accordance with a result of the detection by the detection sensor; 8. A joystick system according to any one of claims 4 to 7.

9. each of the orientation change mode selection unit, the in-plane position change mode selection unit, the vertical direction position change mode selection unit, and the position / orientation change mode selection unit includes a touch sensor; 9. The joystick system of claim 8.

10. A button provided at the tip of the stick, The amount by which the position and the posture of the robot are changed by the operation of the stick is varied depending on whether the button is pressed or not.

10. A joystick system according to any one of claims 1 to 9.

11. A joystick system for commanding both the position and orientation of a robot, comprising: Stick and a detection sensor provided on the stick and configured to detect a moment and / or a translational force of a force input to the stick; a posture change mode selection unit provided on the stick and configured to select a posture change mode for instructing a change in posture of the robot when contacted by a user; an in-plane position change mode selection unit provided on the stick and configured to select an in-plane position change mode for instructing a change in the position of the robot on a predetermined plane when contacted by a user; a vertical direction position change mode selection unit provided on the stick and configured to select, when contacted by a user, a vertical direction position change mode for instructing a change in the position of the robot in a direction perpendicular to the predetermined plane; an attachment provided to the robot and moving along a direction perpendicular to the predetermined plane; the detection sensor is provided at a predetermined position on the attachment, the detection sensor, the attitude change mode selection unit, the in-plane position change mode selection unit, and the vertical direction position change mode selection unit are arranged in this order when viewing the stick from the predetermined position along the longitudinal direction of the stick: the detection sensor, the in-plane position change mode selection unit, the vertical direction position change mode selection unit, and the attitude change mode selection unit; transmitting a signal for instructing the change in each mode in accordance with the result of detection by the detection sensor; A joystick system characterized by:

12. A joystick system for commanding both the position and orientation of a robot, comprising: a stick including a first portion, a second portion, and a third portion; a detection sensor provided on the stick and configured to detect a moment and / or a translational force of a force input to the stick; a posture change mode selection unit provided on the stick and configured to select a posture change mode for instructing a change in posture of the robot when contacted by a user; an in-plane position change mode selection unit provided on the stick and configured to select an in-plane position change mode for instructing a change in the position of the robot on a predetermined plane when contacted by a user; a vertical direction position change mode selection unit provided on the stick and configured to select, when contacted by a user, a vertical direction position change mode for instructing a change in the position of the robot in a direction perpendicular to the predetermined plane; a setting unit that associates each of the attitude change mode selection unit, the in-plane position change mode selection unit, and the vertical direction position change mode selection unit with the first portion, the second portion, and the third portion, the first portion, the second portion, and the third portion are disposed along a length of the stick; transmitting a signal for instructing the change in each mode in accordance with the result of detection by the detection sensor; A joystick system characterized by:

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