| 摘要 |
PROBLEM TO BE SOLVED: To provide a manipulator control device which can operate rotation etc. of a manipulator front end in addition to three translational degrees of freedom by the same input device as that available when X, Y, Z motions are commanded without taking the operator's eye from a work image to which the operator pays attention, and without moving the operator's hand from a currently operating device or seeking assistance of the other hand, and to provide a manipulator control method. SOLUTION: The manipulator control device is formed of: the manipulator 5 having a driving portion 5a, a rotating shaft portion 5b rotatable by the driving portion 5a, and a working portion 51 arranged at a front end of the rotating shaft portion 5b, for carrying out various kinds of work; the input device 2 for instructing translational motions of the working portion 51 in mutually orthogonal three directions, and a rotational motion of the rotating shaft portion 5b; and a control section 3 for transmitting operation instructed by the input device 2 to the manipulator 5. The input device 2 has a main body 20, and a rotation operating element 23 rotatable and tiltable with respect to the main body 20. The main body 20 instructs momentums of the working portion 51 in the mutually orthogonal two directions according to movement in a plane, and the rotation operating element 23 instructs rotation of the rotating shaft portion 5b according to a tilting degree. COPYRIGHT: (C)2009,JPO&INPIT
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