Controller of robot for performing manual operation by operation device

A controller of a robot, comprising:

• an operation device for an operator to perform an operation of manually changing a position and an orientation of a robot;
• and
• a processing device configured to process a signal from the operation device, wherein,
• the operation device includes a movable part configured to perform a pushing operation, a pulling operation, and a tilting operation in a predetermined direction, and an operation detection unit configured to detect an operation of the movable part,
• the processing device includes a manual control unit configured to control an inching operation for changing the position and the orientation of the robot by a predetermined minute amount in response to an operation of the movable part detected by the operation detection unit, and a storage unit configured to store information regarding a manual operation,
• a setting direction in which a working tool attached to the robot moves is predetermined and stored in the storage unit, and
• regardless of a type of operation of the movable part, the manual control unit performs the inching operation so as to move the working tool in the setting direction when the movable part is operated.

A controller of a robot, comprising:

• an operation device for an operator to perform an operation of manually changing a position and an orientation of a robot;
• and
• a processing device configured to process a signal from the operation device, wherein,
• the operation device includes a movable part configured to perform a pushing operation, a pulling operation, and a tilting operation in a predetermined direction, and an operation detection unit configured to detect an operation of the movable part,
• the processing device includes a manual control unit configured to control an inching operation for changing the position and the orientation of the robot by a predetermined minute amount in response to an operation of the movable part detected by the operation detection unit, and a storage unit configured to store information regarding a manual operation,
• a curved movement path along which a working tool attached to the robot moves and a movement length along the movement path in a single inching operation are predetermined and stored in the storage unit, and
• the manual control unit performs the inching operation so as to move the working tool along the movement path by the movement length when the movable part is operated.