Robot system

A robot system includes a robot main body, memory part configured to store information for causing robot main body to perform given operation, as saved operational information, motion controller configured to control operation of robot main body by using saved operational information as automatic operational information for causing robot main body to operate, and an operation correcting device configured to generate, by being operated, manipulating information for correcting operation of robot main body during operation. Motion controller controls robot main body to perform an operation corrected from operation related to automatic operational information in response to a reception of the manipulating information while robot main body is operating by using automatic operational information. Memory part is configured to be storable of corrected operational information for causing robot main body to perform corrected operation as saved operational information, when robot main body performs corrected operation.

TECHNICAL FIELD

The present disclosure relates to a robot system.

BACKGROUND ART

Conventionally, an iterative work, such as welding, painting, assembling of components, and applicating of seal adhesive, is automatically performed in a manufacture site by an industrial robot. In order to make the robot to perform the work, the robot is necessary to be taught with information required for the work and store the information therein. A method of teaching the robot includes, for example, direct teaching by a teacher directly touching and moving the robot, teaching by a remote control using a teaching pendant, teaching by programming, and teaching by a master slave. For example, Patent Document 1 discloses one example of the teaching to store a route of a work to a robot arm by the direct teaching.

REFERENCE DOCUMENT OF CONVENTIONAL ART

DESCRIPTION OF THE DISCLOSURE

Problems to be Solved by the Disclosure

Meanwhile, part of the operation taught to the robot may be necessary to be changed from various reasons. For example, when an object to be worked, a work environment, etc. of the robot is partially changed from those when taught, problems, such as the robot becoming impossible to carry out the objective work, and the work accuracy becoming lowered, may arise. Moreover, after finishing the teaching, a fault may be discovered in the initially-created teaching information for part of the work. In such a case, the teaching information to be used for an automatic operation of the robot is changed by again performing the teaching. However, since an expert's skill is needed for the teaching in many cases, and many time and labors are required therefor, it is burdensome for the teacher. The same can be said for changing the part of robot operation.

Therefore, the purpose of the present disclosure is to provide a robot system, in which preset operation of a robot is easily correctable.

SUMMARY OF THE DISCLOSURE

In order to solve the above problem, a robot system according to one aspect of the present disclosure includes a robot main body, a memory part configured to store information for causing the robot main body to perform a given operation, as saved operational information, a motion controller configured to control the operation of the robot main body by using the saved operational information as automatic operational information for causing the robot main body to operate, and an operation correcting device configured to generate, by being operated, manipulating information for correcting the operation of the robot main body during operation. The motion controller controls the robot main body to perform an operation corrected from the operation related to the automatic operational information in response to a reception of the manipulating information while the robot main body is operating by using the automatic operational information. The memory part is configured to be storable of corrected operational information for causing the robot main body to perform the corrected operation as saved operational information, when the robot main body performs the corrected operation.

According to the above configuration, the operation of the robot main body during operation is correctable on real time by the operation correcting device. Thus, the partial correction of the operation of the robot main body can easily be performed. Moreover, since the corrected operational information for performing the corrected operation is stored in the memory part as the saved operational information, it is not necessary to make a correction by performing the same manipulation using the operation correcting device every time, but the corrected operation can be performed by the robot main body automatically. Therefore, preset operation of the robot is easily correctable.

In the robot system, the motion controller may control the operation of the robot main body using the latest saved operational information stored in the memory part as the automatic operational information. According to this configuration, the operation of the robot main body can gradually brought closer to the target operation each time the correction of the robot main body is repeated using the operation correcting device.

In the robot system, the memory part may store a plurality of saved operational information. The robot system may further include an operational information selector configured to be capable of selecting the saved operational information to be used as the automatic operational information, from the plurality of saved operational information stored in the memory part. According to this configuration, the robot main body can be operated by using the saved operational information stored when the correction is made more appropriately, as the automatic operational information.

In the robot system, the memory part may store a plurality of saved operational information. The robot system may further include a saved operational information generator configured to generate new saved operational information using the plurality of saved operational information stored in the memory part. According to this configuration, by using the plurality of saved operational information stored in the memory part, the saved operational information closer to the target operation can be generated.

In the robot system, the robot main body may be a slave arm, and the operation correcting device may be a master arm, for example, installed outside a workspace of the slave arm.

Effect of the Disclosure

The present disclosure is able to provide the robot system in which the preset operation of the robot is easily correctable.

MODES FOR CARRYING OUT THE DISCLOSURE

First Embodiment

Hereinafter, a robot system according to a first embodiment of the present disclosure is described with reference to the drawings. The robot system100according to this embodiment is a system using a master-slave type robot. In the robot system100, the operator who is located at a position distant from a workspace of a slave arm1(outside of the workspace) manipulates a master arm2to input instructions so that the slave arm1is capable of performing operation corresponding to the instructions to perform a specific work. Moreover, in the robot system100, the slave arm1is also capable of automatically performing a given work, without the operator's manipulation of the master arm2.

An operating mode in which the slave arm1is operated according to the instruction inputted through the master arm2is herein referred to as a “manual mode.” Note that the “manual mode” described above also includes a case where part of the operation of the slave arm1under operation is automatically corrected based on the instruction inputted by the operator manipulating the master arm2. Moreover, an operating mode in which the slave arm1is operated according to a preset task program is referred to as an “automatic mode.”

Further, in the robot system100of this embodiment, it is configured so that the operation to be carried out automatically is correctable by reflecting the manipulation of the master arm2on the automatic operation of the slave arm1, while the slave arm1is operating automatically. An operating mode in which the slave arm1is operated according to the preset task program, while an instruction inputted through the master arm2is reflectable is herein referred to as a “correctable automatic mode.” Note that the “automatic mode” described above is distinguished from the “correctable automatic mode” in that the manipulation of the master arm2is not reflected on the operation of the slave arm1when the operating mode in which the slave arm1is operated is the automatic mode.

First, with reference toFIG. 1, a configuration of the robot system100according to this embodiment is described.FIG. 1is a schematic view illustrating one example of the configuration of the robot system100according to this embodiment. As illustrated inFIG. 1, the robot system100is comprised of a slave robot10, a master arm2, a camera51, a monitor52, a storage device6, and an input device7. Below, each component of the robot system100is described in detail.

The slave robot10includes a slave arm1, an end effector (not illustrated) attached to a tip end of the slave arm1, and a control device3which governs the operations of the slave arm1and the end effector. The slave arm1includes a pedestal15, an arm part13supported by the pedestal15, and a wrist part14, which is supported by a tip end of the arm part13and to which the end effector is attached.

As illustrated inFIG. 1, the slave arm1is an articulated robot arm having a plurality (three or more) joints JT1-JT6, and is constructed by serially connecting a plurality of links11a-11f. In more detail, at the first joint JT1, the pedestal15and a base-end part of the first link11aare coupled to each other so as to be rotatable about an axis extending vertically. At the second joint JT2, a tip-end part of the first link11aand a base-end part of the second link11bare coupled to each other so as to be rotatable about an axis extending horizontally. At the third joint JT3, a tip-end part of the second link11band a base-end part of the third link11care coupled to each other so as to be rotatable about an axis extending horizontally. At the fourth joint JT4, a tip-end part of the third link11cand a base-end part of the fourth link11dare coupled to each other so as to be rotatable about an axis extending in the longitudinal directions of the fourth link11c. At the fifth joint JT5, a tip-end part of the fourth link11dand a base-end part of the fifth link Ile are coupled to each other so as to be rotatable about an axis perpendicular to the longitudinal directions of the link11d. At the sixth joint JT6, a tip-end part of the fifth link Ile and a base-end part of the sixth link11fare twistably and rotatably coupled to each other. A mechanical interface is provided to a tip-end part of the sixth link11f. The end effector corresponding to the contents of work is attached to the mechanical interface so as to be attachable and detachable.

The arm part13of the slave arm1is formed with a coupled body of links and joints comprised of the first joint JT1, the first link11a, the second joint JT2, the second link lib, the third joint JT3, and the third link11c, described above. Moreover, the wrist part14of the slave arm1is formed with a coupled body of links and joints comprised of the fourth joint JT4, the fourth link11d, the fifth joint JT5, the fifth link11e, the sixth joint JT6, and the fourth link11f, described above.

The joints JT1-JT6are provided with drive motors M1-M6, respectively, as one example of an actuator which relatively rotates two members coupled by each joint. The drive motors M1-M6are, for example, servo motors which are servo-controlled by the control device3. Moreover, the joints JT1-JT6are provided with rotation sensors E1-E6(seeFIG. 3) for detecting rotation positions of the drive motors M1-M6, and current sensors C1-C6(seeFIG. 3) for detecting current which controls the rotation of the drive motors M1-M6, respectively. The rotation sensors E1-E6are, for example, encoders. Note that the description of the drive motors M1-M6, the rotation sensors E1-E6, and the current sensors C1-C6described above are denoted by attaching the suffix of 1-6 to the alphabet corresponding to each of the joints JT1-JT6. Below, when arbitrary joint is illustrated among the joints JT1-JT6, the joint is referred to as “JT” while omitting the suffix, and the same is applied to the drive motor M, the rotation sensor E, and the current sensor C.

The control device3may be comprised of, for example, an arithmetic part (not illustrated), such as a microcontroller, a MPU and a PLC (Programmable Logic Controller), and a logic circuit, and a memory part (not illustrated), such as a ROM, and a RAM.

FIG. 2is a schematic view illustrating a configuration of a control system of the robot system100. As illustrated inFIG. 2, the control device3is provided with a motion controller31as a functional block. The motion controller31controls the operation of the slave arm1. Control of the operation of the slave arm1by the motion controller31is described later in detail. The functional block provided to the control device3is implemented by, for example, the arithmetic part of the control device3reading and executing the program stored in the memory part.

(Configuration of Master Arm2)

The master arm2is a device which is installed outside the workspace of the slave arm1and receives an operating instruction from the operator. Since the master arm2has a similarity structure to the slave arm1, description of the configuration of the master arm2is omitted. Note that the master arm2may have a non-similarity structure to the slave arm1. Manipulating information is generated by manipulating the master arm2, and the generated manipulating information is sent to the control device3. In the robot system100of this embodiment, the slave arm1is controlled by the control device3so that it moves so as to follow the motion of the master arm2, when the manipulating information is sent to the control device3while the operating mode in which the slave arm1is operated is the manual mode. When the manipulating information is sent to the control device3while the operating mode in which the slave arm1is operated is the correctable automatic mode, the operation of the slave arm1which operates automatically is corrected using the manipulating information. In this embodiment, the master arm2functions as an operation correcting device which corrects the operation of the slave arm1during operation, as will be described later.

Returning toFIG. 1, the camera51is a camera which images a work situation of the slave arm1, and the monitor52is a monitor by which the operator checks the work situation of the slave arm1. The camera51is installed in a space where the slave arm1is provided, and the monitor52is installed in a space where the master arm2is provided. The operator manipulates the master arm2, while looking at the work situation of the slave arm1displayed on the monitor52. The camera51and the monitor52are connected with each other through the control device3, and image information imaged by the camera51is sent to the monitor52through the control device3. Note that the camera51and the monitor52may be directly connected to each other without having the control device3therebetween, or may be connected with each other through another device. The camera51and the monitor52may be connected with each other wiredly or wirelessly.

The input device7is an input device which is installed outside the workspace together with the master arm2, receives the operating instruction from the operator, and inputs the received operating instruction into the control device3. The input device7is operably configured, and may include, for example, a switch, an adjustment knob, a control lever, or a mobile terminal, such as a tablet computer.

As illustrated inFIG. 2, the input device7includes a mode selector71and an operational information selector72. The mode selector71is to allow the operator to select the operating mode in which the slave arm1is operated from the automatic mode, the correctable automatic mode, and the manual mode, which are described above. The operational information selector72is to select operational information from a plurality of operational information for operating the slave arm1, which is used by the motion controller31when operating the slave arm1in the automatic mode or the correctable automatic mode.

The storage device6is a readable and writable recording medium, and stores information for causing the slave arm1to automatically perform a given operation, as saved operational information61. The saved operational information61needs not to be all information necessary to cause the slave arm1to automatically perform the given operation, but may be part of the information. Moreover the saved operational information61may be any kind of information, as long as it is information related to the operation of the slave arm1. For example, the saved operational information61may be route information containing time-series data, or may be path information indicative of a pause of discontinuous points. The saved operational information61may also contain, for example, a speed of the slave arm1along the route.

The storage device6stores at least one saved operational information61, and one of them is, for example, teaching information61awhich is stored by operating the slave arm1so as to perform the given work by teaching. In this embodiment, although the saved operational information61as the teaching information61ais information stored by manipulating the master arm2to instruct the operation of the slave arm1, it is not limited to this configuration but may be information stored in any teaching method. For example, the saved operational information61as the teaching information61amay be information stored by direct teaching. Note that, in the robot system100according to this embodiment, although the storage device6is provided separately from the control device3but may be provided integrally with the control device3.

Below, the control of the operation of the slave arm1by the motion controller31is described with reference toFIG. 2.

One of the at least one saved operational information61stored in the storage device6is sent to the motion controller31as automatic operational information for causing the slave arm1to automatically operate. In addition, the manipulating information generated by manipulating the master arm2is sent to the motion controller31.

The motion controller31uses one or both of the automatic operational information and the manipulating information according to the operating mode selected in the mode selector71.

When the operating mode selected in the mode selector71is the manual mode, the motion controller31uses the manipulating information. In more detail, when the operating mode in which the slave arm1is operated is the manual mode, the motion controller31controls the operation of the slave arm1according to the manipulating information (inputted instruction) sent by manipulating the master arm2, without using the saved operational information61in the storage device6.

Moreover, when the operating mode selected in the mode selector71is the automatic mode, the motion controller31uses the automatic operational information. In more detail, when the operating mode in which the slave arm1is operated is the automatic mode, the motion controller31controls the operation of the slave arm1using the automatic operational information sent from the storage device6according to the preset task program, without using the manipulating information sent from the master arm2.

Moreover, when the operating mode selected in the mode selector71is the correctable automatic mode, the motion controller31uses both the automatic operational information and the manipulating information. Note that, when the operating mode is the correctable automatic mode and the manipulating information is not sent to the motion controller31, the motion controller31uses only the automatic operational information. In more detail, when the operating mode in which the slave arm1is operated is the correctable automatic mode, and the manipulating information is received while the slave arm1is operating automatically using the automatic operational information, the motion controller31controls the operation of the slave arm1by using both the automatic operational information and the manipulating information. Thus, the slave arm1performs operation corrected from the operation related to the automatic operational information, i.e., the operation to be performed automatically.

Below, the correction of the operation of the slave arm1when the operating mode in which the slave arm1is operated is the correctable automatic mode is described with reference toFIG. 3.FIG. 3is a view illustrating one example of a block diagram of a control system of the motion controller31. In this example, the automatic operational information and the manipulating information are route information which contains, for example, time-series data.

The motion controller31includes an adder31a, subtractors31b,31eand31g, a position controller31c, a differentiator31d, and a speed controller31f, and controls the rotation position of the drive motor M of the slave arm1according to an instruction value based on the automatic operational information and an instruction value based on the manipulating information.

The adder31agenerates a corrected positional instruction value by adding a correcting instruction value based on the manipulating information to a positional instruction value based on the automatic operational information. The adder31asends the corrected positional instruction value to the subtractor31b.

The subtractor31bsubtracts a present position value detected by the rotation sensor E from the corrected positional instruction value to generate an angular deviation. The subtractor31bsends the generated angular deviation to the position controller31c.

The position controller31cgenerates a speed instruction value based on the angular deviation sent from the subtractor31bby calculation processing based on a predefined transfer function and/or a predefined proportionality coefficient. The position controller31csends the generated speed instruction value to the subtractor31e.

The differentiator31ddifferentiates the present position value information detected by the rotation sensor E, and generates an amount of change in the rotation angle of the drive motor M per unit time, i.e., a present speed value. The differentiator31dsends the generated present speed value to the subtractor31e.

The subtractor31esubtracts the present speed value sent from the differentiator31dfrom the speed instruction value sent from the position controller31cto generate a speed deviation. The subtractor31esends the generated speed deviation to speed controller31f.

The speed controller31fgenerates a torque instruction value (current instruction value) based on the speed deviation sent from the subtractor31eby calculation processing based on a predefined transfer function and/or a predefined proportionality coefficient. The speed controller31fsends the generated torque instruction value to the subtractor31g.

The subtractor31gsubtracts a present current value detected by the current sensor C from the torque instruction value sent from the speed controller31fto generate a current deviation. The subtractor31gsends the generated current deviation to the drive motor M to drive the drive motor M.

Thus, the motion controller31controls the drive motor M to control the slave arm1so that the slave arm1performs the operation corrected from the operation related to the automatic operational information. Note that, when the operating mode of the slave arm11is the automatic mode, the positional instruction value based on the automatic operational information is sent to the subtractor31b, and when the operating mode of the slave arm11is the manual mode, the positional instruction value based on the manipulating information is sent to the subtractor31b.

The storage device6is configured, when the slave arm1performs the corrected operation, to automatically store corrected operational information for the slave arm1to perform the corrected operation as the saved operational information61. Note that the storage device6may be configured, when the slave arm1performs the corrected operation, to be selectable of whether the corrected operational information described above is to be stored as the saved operational information61. In this case, for example, after the corrected operation of the slave arm1is finished, the control device3may be configured to inquire the input device7of whether the corrected operation is to be stored.

The motion controller31can use the corrected operational information stored in the storage device6as the saved operational information61as the automatic operational information in operation on and after next time. In this embodiment, the motion controller31is configured to control the operation of the slave arm1using the latest saved operational information61stored in the storage device6as the automatic operational information.

Below, with reference toFIGS. 4(a) to (c), the operation correction of the slave arm1by the robot system100is described, while one example thereof is given.FIGS. 4(a) to (c)illustrate that, when the operating mode in which the slave arm1is operated is the correctable automatic mode, a route of the slave arm1(i.e., a route of the end effector) is corrected to a target route L0each time the slave arm1is operated.FIGS. 4(a) to (c)illustrate the target route L0having a right-angled corner by a dashed line.

InFIG. 4(a), a route L1of the slave arm1when operating the slave arm1using the teaching information61aas the automatic operational information without the manipulation of the master arm2is illustrated by a thick line. It can be seen fromFIG. 1that the actual route L1is partially deviated from the target route L0(especially, at the corner of the route L0).

InFIG. 4(b), a route L2of the slave arm1when manipulating the master arm2so that an amount of deviation from the target route L0becomes smaller than the route L1at the time of the previous operation (the route ofFIG. 4(a)) is illustrated by a thick line. Note that, inFIG. 4(b), the route L1of the previous operation is illustrated by a thin line for reference.

The operator manipulates the master arm2so that the amount of deviation from the target route L0becomes smaller than the route L1at the time of the previous operation, to correct the operation of the slave arm1to the route L2which is corrected from the route L1. Specifically, the motion controller31operates the slave arm1using the teaching information61aas the automatic operational information in the state where the correctable automatic mode is selected as the operating mode in which the slave arm1is operated. The operator manipulates the master arm2while the slave arm1is operating using the automatic operational information, so that the route approaches the target route L0from the previous route L1. Thus, the route is corrected to the route L2of the slave arm1from the route L1of the slave arm1. The corrected operational information for operating the slave arm1so that the slave arm1traces the route L2is stored in the storage device6as the saved operational information61.

In this embodiment, the motion controller31is configured to control the operation of the slave arm1using the latest saved operational information61stored in the storage device6as the automatic operational information. Thus, when the master arm2is not manipulated in a subsequent operation, the slave arm1operates so as to trace the route L2.

InFIG. 4(c), a route L3of the slave arm1when manipulating the master arm2so that the amount of deviation from the target route L0becomes smaller than the route L2at the time of the previous operation (route ofFIG. 4(b)) is illustrated by a thick line. Note that, inFIG. 4(c), the route L2of the previous operation is illustrated by a thin line for reference.

The operator manipulates the master arm2so that the amount of deviation from the target route L0becomes smaller than the route L2at the time of the previous operation to correct the operation of the slave arm1to the route L3which is corrected from the route L2. Specifically, the motion controller31operates the slave arm1using the saved operational information61related to the route L2as the automatic operational information, while the correctable automatic mode is selected as the operating mode in which the slave arm1is operated. The operator manipulates the master arm2so that the route approaches the target route L0from the previous route L2while the slave arm1is operating using the automatic operational information. Thus, the route is corrected to the route L3of the slave arm1from the route L2of the slave arm1. The corrected operational information for operating the slave arm1so that the slave arm1traces the route L3is stored in the storage device6as the saved operational information61.

Thus, the route of the slave arm1is corrected so as to approach the target route L0each time the slave arm1is operated. When the route of the slave arm1is corrected to the target route L0and a further correction becomes unnecessary, the operator selects the automatic mode with the mode selector71as the operating mode in which the slave arm1is operated, to operate the slave arm1in the completely automatic fashion.

As described above, in the robot system100according to this embodiment, the operation of the slave arm1during operation is correctable on real time by the master arm2which functions as the operation correcting device. Thus, the partial correction of the operation of the slave arm1can easily be performed. Moreover, since the corrected operational information for performing the corrected operation is stored in the storage device6as the saved operational information, it is not necessary to make a correction by performing the same manipulation using the master arm2every time, but the corrected operation can be performed by the slave arm1automatically.

Therefore, the operation taught to the slave arm1is easily correctable.

Moreover, in this embodiment, since the automatic mode is selectable as the operating mode of the motion controller31by the mode selector71, the automatic mode is selected when the correction of the operation of the slave arm1is not necessary to prevent that the master arm2which is the operation correcting device is unintentionally operated and the operation of the slave arm1is corrected. Moreover, since the manual mode is selectable as the operating mode of the motion controller31by the mode selector71, the slave arm1is operable without using the saved operational information61stored in the storage device6.

Moreover, in this embodiment, since the motion controller31controls the operation of the slave arm1using the latest saved operational information stored in the storage device6as the automatic operational information, the operation of the slave arm1can be gradually brought closer to the target operation each time the correction of the slave arm1is repeated using the master arm2.

The motion controller31is not necessary to use the latest saved operational information61stored in the storage device6as the automatic operational information. For example, the operational information selector72may select the saved operational information61from a plurality of saved operational information61stored in the storage device6, which is to be used by the motion controller31as the automatic operational information. In this case, the same saved operational information61may be used every time as the automatic operational information until the operational information selector72selects the saved operational information61to be used as the automatic operational information. According to this configuration, even when the latest saved operational information61stored in the storage device6is not the optimal as information for operating the slave arm1, the operational information selector72is capable of using the saved operational information61when the correction is made appropriately, as the automatic operational information.

Moreover, the robot system100may be provided with a situation information acquiring part (not illustrated) which acquires situation information indicative of the situation of the slave arm1in the workspace, and the motion controller31may select the saved operational information61suitable for operating the slave arm1as the automatic operational information, based on the situation information acquired by the situation information acquiring part. The situation information includes, for example, information used for recognizing the position or posture of the slave arm1in the workspace, or the situation around the slave arm1. The information used for recognizing the situation around the slave arm1is, for example, a time window or timing at which the slave arm1is operated, or temperature and/or humidity in the workspace. For example, if the slave robot10is a sealing robot which applies seal adhesive with viscosity, the viscous resistance of the seal adhesive may vary depending on the time of work. In such a case, by selecting the saved operational information61suitable for the viscous resistance of the seal adhesive as the automatic operational information based on the situation information, the correction of the operation of the slave arm1can also be made more easily.

Moreover, as illustrated inFIG. 2, the motion controller31may be provided with a saved operational information generator32which generates new saved operational information61using a plurality of saved operational information61stored in the storage device6. A method of generating the new saved operational information61by the saved operational information generator32is not limited in particular, but an algorithm suitable for bringing the operation closer to the target operation is adopted. For example, the saved operational information generator32may be configured to generate the saved operational information61for performing operation which is an average of the operations related to the plurality of saved operational information which is stored. The saved operational information generator32may delete the saved operational information61on the past used in order to generate the new saved operational information61, when generating the new saved operational information61.

Moreover, in this embodiment, although the master arm2which is manipulatable of the route of the end effector of the slave arm1is described as the operation correcting device of the present disclosure, it may be, for example, a route manipulating device having another configuration, such as a joystick.

Second Embodiment

Next, with reference toFIG. 5, a robot system according to a second embodiment is described.FIG. 5is a schematic view illustrating a configuration of a control system of the robot system according to the second embodiment.

In the robot system of this embodiment, the master arm2is not provided, but the input device7is provided with a speed adjuster73which sends operational information for adjusting a speed of the slave arm1during operation along a scheduled route, to the motion controller31. Here, the scheduled route is a planned route to be traced by the slave arm1while the slave arm1operates based on the automatic operational information. The speed adjuster73is configured to be operable, and may include, for example, a switch, an adjustment knob, a control lever, or a mobile terminal, such as a tablet computer. In this embodiment, the mode selector71is configured to be selectable by the operator, either one of the automatic mode and the correctable automatic mode as the operating mode in which the slave arm1is operated. In this embodiment, the speed adjuster73functions as the operation correcting device which corrects the operation of the slave arm1during operation.

One of the at least one saved operational information61stored in the storage device6is sent to the motion controller31as the automatic operational information for causing the slave arm1to automatically operate. Moreover, the manipulating information generated by manipulating the speed adjuster73is sent to the motion controller31. In this embodiment, the saved operational information61and the manipulating information include the information related to a speed of the slave arm1along the scheduled route. Moreover, the saved operational information61also includes the route information related to the scheduled route of the slave arm1.

The motion controller31uses one or both of the automatic operational information and the manipulating information according to the operating mode selected in the mode selector71.

When the operating mode in which the slave arm1is operated is the automatic mode, the motion controller31controls the operation of the slave arm1using the automatic operational information sent from the storage device6according to the preset task program, without using the manipulating information sent from the speed adjuster73. That is, the slave arm1moves along the scheduled route based on the speed information contained in the automatic operational information.

Moreover, when the operating mode in which the slave arm1is operated is the correctable automatic mode, the motion controller31controls the operation of the slave arm1using both the automatic operational information and the manipulating information in response to the reception of the manipulating information while the slave arm1is operating automatically using the automatic operational information. That is, the slave arm1moves along the scheduled route at a speed corrected from an operating speed based on the automatic operational information. Moreover, the storage device6stores the corrected operational information for the slave arm1moving along the scheduled route at the corrected speed, as the saved operational information61. Thus, this embodiment also acquires the same effects as the first embodiment.

Other Embodiments

The present disclosure is not limited to the embodiments described above, and various modifications may be possible without departing from the spirit of the present disclosure.

For example, in the embodiments described above, although the route and/or the operating speed of the slave arm1are corrected by the operation correcting device of the present disclosure, the operation correcting device of the present disclosure may correct operation(s) other than the route and/or the operating speed of the slave arm1. For example, the operation correcting device of the present disclosure may be a device which corrects one or more parameters related to operation(s) other than the route and/or the operating speed of the slave arm1. For example, the operation correcting device of the present disclosure may send to the motion controller31manipulating information of the manipulation of the master arm2for adjusting an operating sensitivity of the slave arm1, or may send to the motion controller31manipulating information for adjusting a feedback rate of a force received by the slave arm1to the master arm2side.

Moreover, the robot system of the present disclosure may be provided with a plurality of operation correcting devices. For example, it may be comprised of both the master arm2for correcting the route of the slave arm1and the speed adjuster73for adjusting the speed of the slave arm1along the route. In this case, for the location where the route needs to be corrected, the route of the slave arm1is correctable by the manipulation of the master arm2, while lowering the speed by the speed adjuster73. Thus, the route of the slave arm1is correctable with more accuracy.

In the embodiments described above, although the manipulating parts, such as the mode selector71and the operational information selector72are provided in the single input device7, they may be provided in separate or different input devices.

DESCRIPTION OF REFERENCE CHARACTERS