| 摘要 |
<p>The method involves moving the manipulator in a detected target-moving direction about a predetermined distance (deltaS). Forces (F,F') exerted on the manipulator are detected for determining the target-moving direction or a movement of the manipulator due to the exerted force is recorded. The predetermined distance depends on the force exerted on the manipulator. Independent claims are included for the following: (1) a device for controlling a manipulator, particularly a robot; (2) a computer program for executing the manipulator controlling method; and (3) a computer program product with a program code stored on a machine readable carrier.</p> |
