| 摘要 |
PROBLEM TO BE SOLVED: To move a tool to a target position according to a prescribed route. SOLUTION: In this device, a tool 1 is arranged at the free ends 2 and 1 of a rotary arm 2 having an arm part 3 to be mutually rotatable and/or runnable through a drive unit 4 and the position and the attitude of the tool 1 are detected by a first measuring device 7, and an operation force applied on the tool 1 and/or rotary arm 2 is detected by a second measuring device 8. This constitution drives this device in a prescribed movement range in the direction of operation force. |
