| 摘要 |
PURPOSE: To perform input operation and correcting operation for a shape without generating light and unnecessary vibration by providing a gripping force sensor at the position of the operation rod at the tip of a manipulator and varying machine response characteristics of a system. CONSTITUTION: The operation rod 3 is fitted to the tip of the manipulator 1 which can perform 6-degree-of-freedom movement in a space through a six- axial force sensor 2. Further, the gripping force sensor 4 which can measures even the force with which the operation rod 3 is gripped is attached to the operation rod 3. When an operator grips the operation rod 3 together with the gripping force sensor 4 and applies a force in an optional direction, a force sensor 2 detects the direction and strength of the force. In a control unit 5 to which information on them is sent, the output of the force sensor 2 is converted into acceleration to update the position of the force sensor 2. Namely, when operation is performed by gripping the rod with a strong gripping force, the rigidity of the hand is high, so the rigidity on the side of the manipulator 1 is increased, when the rod is gripped lightly, the rigidity of the hand is low, so the rigidity on the side of the manipulator 1 is suppressed low.
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