| 摘要 |
PURPOSE:To enable the position and pose commands for fingers of a robot, by supporting a sphere which can be operated manually so that it can freely move around orthogonal three axes. CONSTITUTION:Three plants which are orthogonal to each other through the center of a sphere 1 are supposed, and the cross lines between these three planes and the sphere 1 are defined as large circles 3a, 3b and 3c respectively. A sensor 4a touches the circle 3a corresponding to the equator and detects the degree of displacement of the circle 3a in its revolving direction. This sensor 4a is supported rotatably to a base 2. In the same way, both sensors 4b and 4c touching circles 3b and 3c respectively are also supported rotatably to the base 2. Each sensor has a ring-shaped friction transmitting member and can detect independently the degree of rotary displacement caused around orthogonal three axes of the sphere 1. |
