Method and means for handling an object

An object handling system, comprising:

• an object which is to be handled (1), wherein said object to be handled is mechanically connected with a manipulator (5) and to an input tool (7) by means of which a direction ({right arrow over (d)}′) within an internal coordinate system (K′) relating to the input tool (7) is entered in any desired orientation in which the relation between the internal coordinate system (K′) and an external coordinate system (K) is unknown;
• and
• wherein said object handling system is configured for carrying out the method comprising the steps of:
• a) initiating (S3) a test movement of the manipulator (5) by a control unit (6) on the basis of a direction ({right arrow over (r)}) known in the external coordinate system (K);
• b) determining (S5), in the internal coordinate system (K′), the direction ({right arrow over (r)}′) of a movement of the input tool (7) resulting from the test movement of the manipulator (5);
• c) determining (S6;
• S13), on the basis of the known direction ({right arrow over (r)}) of the test movement and the direction of the resulting movement ({right arrow over (r)}′), a coordinate transformation (T) which transforms the direction of the resulting movement ({right arrow over (r)}′) in the internal coordinate system (K′) into the known direction ({right arrow over (r)}) in the external coordinate system (K);
• d) detecting (S7), within the internal coordinate system (K′), an internal direction ({right arrow over (d)}′) entered by a user using the input tool (7);
• e) applying (S8) the coordinate transformation (T) to the detected internal direction ({right arrow over (d)}′) in order to obtain an external direction ({right arrow over (d)});
• and
• f) controlling (S9) a movement of the manipulator (5) on the basis of the external direction ({right arrow over (d)}).

A computer program product with program code which enables a computer to control an object handling system to which an object which is to be handled (1) is mechanically connected with a manipulator (5) and to which the object which is to be handled (1) is mechanically connected with an input tool (7) by means of which a direction ({right arrow over (d)}′) within an internal coordinate system (K′) relating to the input tool (7) is entered in any desired orientation in which the relation between the internal coordinate system (K′) and an external coordinate system (K) is unknown, said computer program product with program code enables said computer to control said object handling system to carry out a method comprising the steps of:

• a) initiating (S3) a test movement of the manipulator (5) by a control unit (6) on the basis of a direction ({right arrow over (r)}) known in the external coordinate system (K);
• b) determining (S5), in the internal coordinate system (K′), the direction ({right arrow over (r)}′) of a movement of the input tool (7) resulting from the test movement of the manipulator (5);
• c) determining (S6;
• S13), on the basis of the known direction ({right arrow over (r)}) of the test movement and the direction of the resulting movement ({right arrow over (r)}′), a coordinate transformation (T) which transforms the direction of the resulting movement ({right arrow over (r)}′) in the internal coordinate system (K′) into the known direction ({right arrow over (r)}) in the external coordinate system (K);
• d) detecting (S7), within the internal coordinate system (K′), an internal direction ({right arrow over (d)}′) entered by a user using the input tool (7);
• e) applying (S8) the coordinate transformation (T) to the detected internal direction ({right arrow over (d)}′) in order to obtain an external direction ({right arrow over (d)});
• and
• f) controlling (S9) a movement of the manipulator (5) on the basis of the external direction ({right arrow over (d)}).