| 摘要 |
<p>A portable handheld device (1) according to the invention for controlling and/or programming a manipulator, in particular a robot, comprises a handling device (2, 3) for the handheld device to be handled by an operator, a position sensing device (4), the spatial position of which can be sensed, and a feeling element (5), which is connected to the position sensing device, in particular releasably connected, and on which a reference point (R) is defined, wherein the handling device (2, 3) and the position sensing device (4) are connected to each other in an articulated manner. A force sensing device of the handheld device allows the optional preselection of position or force components as setpoint variables and/or the detection of a contact of the handheld device with the surroundings.</p> |
