Robot instructing apparatus, teaching pendant, and method of instructing a robot

Abstract

A robot instructing apparatus for a robot having an end effector includes a teaching pendant, and orientation device, and at least one processor. The orientation device is configured to output an orientation of the teaching pendant based on an angular position of the teaching pendant about a vertical axis. The at least one processor is configured to generate movement instructions to move the robot during one or more teaching operations. The at least one processor is configured to generate the movement instructions in a translation teaching mode in which a translational change of the end effector, in response to the movement instructions, corresponds to an input direction input to the teaching pendant by a user relative to the orientation of the teaching pendant.

What is claimed is: 
     
         1 . A robot instructing apparatus for a robot having an end effector, the robot instructing apparatus comprising:
 a teaching pendant;   an orientation device configured to output an orientation of the teaching pendant based on an angular position of the teaching pendant about a vertical axis; and   at least one processor configured to generate movement instructions to move the robot during one or more teaching operations,   wherein the at least one processor is configured to generate the movement instructions in a translation teaching mode in which a translational change of the end effector, in response to the movement instructions, corresponds to an input direction input to the teaching pendant by a user relative to the orientation of the teaching pendant.   
     
     
         2 . The robot instructing apparatus according to  claim 1 , further comprising:
 an inclination device configured to output an inclination of the teaching pendant based on the inclination of the teaching pendant about at least one horizontal axis,   wherein the at least one processor is configured to generate the movement instructions in an inclination teaching mode in which a change in the inclination of the end effector, in response to the movement instructions, corresponds to a direction of the inclination of the teaching pendant about the at least one horizontal axis.   
     
     
         3 . The robot instructing apparatus according to  claim 1 ,
 wherein the teaching pendant has a display.   
     
     
         4 . The robot instructing apparatus according to  claim 1 ,
 wherein the teaching pendant includes one or more buttons configured to receive user input.   
     
     
         5 . The robot instructing apparatus according to  claim 4 ,
 wherein the at least one processor is configured to cause the teaching pendant to enter the one or more teaching operations based on an interaction with the one or more buttons.   
     
     
         6 . The robot instructing apparatus according to  claim 1 ,
 wherein the orientation device includes a gyroscope.   
     
     
         7 . The robot instructing apparatus according to  claim 2 ,
 wherein the movement instructions are real-time instructions to change a posture of the robot during the one or more teaching operations, and   wherein the at least one processor is configured to generate the real-time instructions such that a direction of the change in the posture of the robot is based on one or more of the inclination of the teaching pendant output by the inclination device, the orientation of the teaching pendant output by the orientation device, and the input direction input to the teaching pendant relative to the orientation of the teaching pendant.   
     
     
         8 . The robot instructing apparatus according to  claim 2 ,
 wherein the at least one processor is configured to generate the movement instructions for the end effector having a tool center point disposed at a tip end of the end effector, and   wherein the at least one processor is configured to generate the movement instructions such that a change in the position of the end effector is instructed based on the inclination of the teaching pendant output by the inclination device and the orientation of the teaching pendant output by the orientation device while the tool center point of the robot is held constant at a single position with respect to an X-axis, a Y-axis, and a Z-axis.   
     
     
         9 . A teaching pendant for a robot having an end effector, the teaching pendant comprising:
 an orientation sensor configured to output an orientation of the teaching pendant based on an angular position of the teaching pendant about a vertical axis; and   circuitry configured to generate movement instructions to move the robot during one or more teaching operations,   wherein the circuitry is configured to generate the movement instructions in a translation teaching mode in which a translational change of the end effector, in response to the movement instructions, corresponds to an input direction input to the teaching pendant by a user relative to the orientation of the teaching pendant.   
     
     
         10 . The teaching pendant according to  claim 9 , further comprising:
 an inclination sensor configured to output an inclination of the teaching pendant based on the inclination of the teaching pendant about at least one horizontal axis,   wherein the circuitry is configured to generate the movement instructions in an inclination teaching mode in which a change in the inclination of the end effector, in response to the movement instructions, corresponds to a direction of the inclination of the teaching pendant about the at least one horizontal axis.   
     
     
         11 . The teaching pendant according to  claim 9 , further comprising:
 a display.   
     
     
         12 . The teaching pendant according to  claim 9 , further comprising:
 one or more buttons configured to receive user input.   
     
     
         13 . The teaching pendant according to  claim 12 ,
 wherein the circuitry is configured to cause the teaching pendant to enter the one or more teaching operations based on an interaction with the one or more buttons.   
     
     
         14 . The teaching pendant according to  claim 9 ,
 wherein the orientation sensor includes a gyroscope.   
     
     
         15 . The teaching pendant according to  claim 10 ,
 wherein the movement instructions are real-time instructions to change a posture of the robot during the one or more teaching operations, and   wherein the circuitry is configured to generate the real-time instructions such that a direction of the change in the posture of the robot is based on one or more of the inclination of the teaching pendant output by the inclination sensor, the orientation of the teaching pendant output by the orientation sensor, and the input direction input to the teaching pendant relative to the orientation of the teaching pendant.   
     
     
         16 . The teaching pendant according to  claim 10 ,
 wherein the circuitry is configured to generate the movement instructions for the end effector having a tool center point disposed at a tip end of the end effector, and   wherein the circuitry is configured to generate the movement instructions such that a change in the position of the end effector is instructed based on the inclination of the teaching pendant output by the inclination sensor and the orientation of the teaching pendant output by the orientation sensor while the tool center point of the robot is held constant at a single position with respect to an X-axis, a Y-axis, and a Z-axis.   
     
     
         17 . A method of instructing a robot having an end effector, said method comprising:
 determining an orientation of a teaching pendant based on an angular position of the teaching pendant about a vertical axis; and   generating movement instructions to move the robot during one or more teaching operations,   wherein the movement instructions are generated in a translation teaching mode in which a translational change of the end effector, in response to the movement instructions, corresponds to an input direction input to the teaching pendant by a user relative to the orientation of the teaching pendant.   
     
     
         18 . The method according to  claim 17 , further comprising:
 determining an inclination of the teaching pendant about at least one horizontal axis,   wherein the movement instructions are further generated in an inclination teaching mode in which a change in the inclination of the end effector, in response to the movement instructions, corresponds to a direction of the inclination of the teaching pendant about the at least one horizontal axis.   
     
     
         19 . The method according to  claim 18 ,
 wherein the movement instructions are real-time instructions to change a posture of the robot during the one or more teaching operations, and   wherein the real-time instructions are generated such that a direction of the change in the posture of the robot is based on one or more of the inclination of the teaching pendant, the orientation of the teaching pendant, and the input direction input to the teaching pendant relative to the orientation of the teaching pendant.   
     
     
         20 . The method according to  claim 18 ,
 wherein the end effector has a tool center point disposed at a tip end of the end effector, and   wherein the movement instructions are generated such that a change in the position of the end effector is instructed based on the inclination of the teaching pendant and the orientation of the teaching pendant while the tool center point of the robot is held constant at a single position with respect to an X-axis, a Y-axis, and a Z-axis.