Operation device, control system, control method, and non-transitory computer-readable storage medium

Abstract

An operation device includes operation input circuitry that receives instructions for operating robot having leading end and arm that changes position and posture of the end, and processing circuitry that outputs, to the input circuitry, operation image by which instruction for motion command for the end is input, detects posture of the input circuitry in first coordinate system, rotates second coordinate system relative to the first system based on the posture of the input circuitry, converts the command into first-coordinate-system command, and outputs the first-coordinate-system command based on the first-coordinate-system command. Upon execution of operation of specifying point on the image, the processing circuitry determines motion direction of the end in the second system correlated with positional relationship between the point and reference point in the image, determines motion scalar quantity of the end correlated with distance between the points, and generates the motion command including the direction and quantity.