| 摘要 |
The invention relates to a method for handling an object (1) by means of a manipulator (5) and by means of an input tool (7), wherein the input tool (7), which has an internal coordinate system (K'), is mechanically connected to the object (1); wherein the control unit (6) of the manipulator, which control unit has an external coordinate system (K), and wherein first the internal coordinate system (K') is calibrated to the external coordinate system (K) in that a sample motion of the manipulator in a known direction (r) in relation to the external coordinate system (K) is triggered; wherein the resulting direction (r') in relation to the internal coordinate system (K') is determined by means of the input tool (7); and wherein a coordinate transformation (T) is determined, which transforms the resulting direction (r') in the internal coordinate system (K') into the known direction (r) in the external coordinate system (K). In order to move the object (1) in a direction desired by a user, an internal direction (d') in the internal coordinate system (K') input by the user at the input tool (7) is sensed, which internal direction represents the desired motion; the previously determined coordinate transformation (T) is applied to the sensed internal direction (d') in order to obtain an external direction (d) in the external coordinate system (K); and the manipulator and thus also the object (1) are actuated in the external direction (d). |
