| 摘要 |
Provided is a control method for a manipulator system equipped with a manipulator having an end effector and a joint section and a manipulation input device which enables a moving direction of the end effector to be input via an operating member, wherein the joint section has a first joint which can swing about a first axis which aligns with the direction in which the end effector and the joint section are arranged and a second joint which is positioned ahead of the first joint and can swing about a second axis which is perpendicular to the first axis, said control means including a reception step (S2) for receiving a moving direction, a rotation step (S3) for actuating the first joint on the basis of the moving direction, a bending step (S6) for actuating the second joint, and a transition step (S5) for transitioning from the rotation step (S3) to the bending step (S6) in accordance with a change in the physical quantity of an operation performed on the operating member. |
