Controller for end portion control of multi-degree-of-freedom robot, method for controlling multi-degree-of-freedom robot by using controller, and robot operated thereby

A method for controlling a multi-degree-of-freedom robot by using a robot controller, comprising:

• receiving a first control input for at least four directions from a first control interface positioned at a first position around a robot end portion;
• receiving a second control input for at least four directions from a second control interface positioned at a second position around the robot end portion;
• combining the first and the second control input so as to interpret the combined first and the second control input as a third control input about the robot end portion;
• and
• providing the robot with a signal according to the third control input,
• wherein, the first control interface and the second control interface are disposed at the positions opposite each other,
• wherein, in the 3-dimensional space expressed in terms of x-, y-, and z-axis, when the first and the second control inputs are inputs of the same direction on the same axis, an encoder interprets the control inputs as a translational motion along the input direction to prevent the robot end portion from moving along a direction other than the input direction due to a force applied by a user, and
• wherein, in the 3-dimensional space expressed in terms of x-, y-, and z-axis, when the first and the second control inputs are inputs of the opposite direction to each other on the same axis, the encoder interprets the control inputs as a rotational motion about the axis orthogonal to the same axis.

A multi-degree-of-freedom robot, comprising:

• a robot controller controlling motion of a robot;
• and
• at least one robot arm moving according to the control of the robot controller, wherein the robot controller comprises:
• a first control interface which is positioned at a first position around a robot end portion and receives a first control input about at least four directions;
• a second control interface which is positioned at a second position around the robot end portion and receives a second control input about at least four directions;
• and
• an encoder which interprets the combination of the first and second control inputs as a third control input about the robot end portion and provides the robot with a signal according to the third control input,
• wherein, the first control interface and the second control interface are disposed at the positions opposite each other,
• wherein, in the 3-dimensional space expressed in terms of x-, y-, and z-axis, when the first and the second control inputs are inputs of the same direction on the same axis, the encoder interprets the control inputs as a translational motion along the input direction to prevent the robot end portion from moving along a direction other than the input direction due to a force applied by a user,
• wherein, in the 3-dimensional space expressed in terms of x-, y-, and z-axis, when the first and the second control inputs are inputs of the opposite direction to each other on the same axis, the encoder interprets the control inputs as a rotational motion about the axis orthogonal to the same axis.