| 摘要 |
A link actuation device (51) includes a distal end side link hub (3) connected with a proximal end side link hub (2) through three or more sets of link mechanisms (4) for alteration in orientation. By means of an actuator (53) provided in the two or more set of the link mechanism (4), the distal end orientation, which is the orientation of the distal end side link hub (3) relative to the proximal end link hub (2), is changed arbitrarily. The operating device (55) includes an orientation designating unit (55a) for designating the distal end orientation aimed at by means of a coordinate position on the orthogonal coordinate system by an artificial manipulation, an orientation acquiring unit (55) for acquiring the distal end orientation that is expressed by an angular coordinate system through calculation, and an orientation information applying unit (55c) for applying information on the distal end orientation so acquired to a control device (54) for controlling the actuator (53). |
