Hand-held device and method for determining the spatial position of an operating point of a manipulator

摘要

The device (1) has a changeable tactile element (5) detachably connected a spatial position detecting unit (4). An enabling switch (2.1) is arranged at a cylindrical handle (2) of a handling unit i.e. personal digital assistant (3), where the handling unit is connected with the spatial position detecting unit by a rotational ball joint. A set of sensors is arranged along circumference of a marking ring. An input unit i.e. keyboard (3.1), controls an additional axis of a manipulator. Independent claims are also included for the following: (1) a method for detecting a spatial position of a working point of a manipulator (2) a computer program product comprising a set of instructions to perform a method of detecting a spatial position of a working point of a manipulator.