Robot manipulation device and robot
AssigneeFanuc Corporation
InventorsKazuhiro Watanabe, Tomoyuki Motokado, Toshihiko Inoue
Life of this patent
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Abstract
An robot operation device attached to a robot having a long tool fixed to a flange provided at a distal end of the robot, the robot operation device includes a handle having an inner hole through which the tool is inserted, the handle configured to be held by one of hands of an operator in a manner that a longitudinal axis of the tool is enclosed by the one of the hands, and a sensor configured to attach the handle to the flange, the sensor detecting force or moment applied to the handle by the operator. The robot is operable by lead-through control which changes a position and posture of the robot in response to the force or the moment detected by the sensor.
Claims9
A robot operation device attached to a robot having a long tool fixed to a flange provided at a distal end of the robot, wherein a longitudinal axis of a proximal end side of the tool extends along a rotation axis of the flange, the robot operation device comprising:
- a first handle having an inner hole through which the proximal end side of the tool penetrates along the longitudinal axis, the first handle configured to be held by one of hands of an operator in a manner that the longitudinal axis of the tool is enclosed by the one of the hands;
- and
- a sensor configured to attach the first handle to the flange so that the tool penetrates the inner hole along the longitudinal axis, the sensor detecting force or moment applied to the first handle by the operator,
- wherein the robot operation device is configured to use the force or the moment detected by the sensor to operate the robot so that the robot is operable by lead-through control which changes a position and posture of the robot in response to the force or the moment.
Dependencies are inferred from the claim text.