WORKING AUXILIARY DEVICE AND METHOD

摘要

PROBLEM TO BE SOLVED: To provide a technique for assisting a work in which trajectory of a treatment implement for a working object is regarded as important. SOLUTION: The working auxiliary device is used to adjust the position and the attitude of the treatment implement following the human's operation to assist the operation of the human who executes the treatment for a predetermined place of the working object. The working auxiliary device is equipped with: an operation force detection means for detecting the operation force which is applied to the treatment implement by the human; a motion calculation means for calculating the position and the attitude of the treatment implement appeared after a predetermined time when the operation force detected by the operation force detection means is applied to the treatment implement model wherein the moving direction of a portion having a predetermined positional relationship with respect to the treatment implement is restricted in the predetermined direction determined by the attitude of the treatment implement; and an actuator for adjusting the position and the attitude of the treatment implement after the predetermined time to the position and the attitude calculated by the motion calculation means. COPYRIGHT: (C)2006,JPO&NCIPI