| 摘要 |
The invention relates to a hand-held control device (12) for an industrial robot (10) comprising a manual input unit (22) for controlling the movement of the robot such that the movement of the robot corresponds to the movement of the input unit, wherein a first coordinate system (X 1 ,Y 1 ,Z 1 ) is defined relative to the control device such that it follows the movement of the control device, and a second coordinate system (X 2 , Y 2 , Z 2 ) is defined fixed to the robot, and the movements of the manual input unit are measured in the first coordinate system. The device further comprises a determining unit including a sensor (24) for determining the relative orientation between the first and the second coordinate system, and a calculating unit adapted to calculate the transformation between the first and second coordinate system based on the relative orientation between the coordinate systems, and to transform the movements of the manual input unit into corresponding movements in the second coordinate system based on said calculated transformation.
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