Link actuation device manipulating device and link actuation system

A manipulating device for a link actuation device, the link actuation device including:

• a proximal end side link hub;
• a distal end side link hub;
• three or more link mechanisms interposed between the proximal end side link hub and the distal end side link hub, at least one link mechanism among the three or more link mechanisms coupling the distal end side link hub to the proximal end side link hub such that a posture of the distal end side link hub can be changed relative to the proximal end side link hub;
• and an actuator provided to each of two or more link mechanisms among the three or more link mechanisms and configured to change the posture of the distal end side link hub relative to the proximal end side link hub, wherein each of the three or more link mechanisms includes:
• a proximal side end link member having one end rotatably coupled to the proximal end side link hub;
• a distal side end link member having one end rotatably coupled to the distal end side link hub;
• and an intermediate link member having opposite ends rotatably coupled to other ends of the proximal side and distal side end link members, respectively, wherein a distal end posture is defined by a bending angle, that is a vertical angle formed when an axis of the distal end side link hub is inclined relative to an axis of the proximal end side link hub;
• and a turning angle, that is a horizontal angle formed when the axis of the distal end side link hub is inclined relative to the axis of the proximal end side link hub, the manipulating device comprising:
• a controller, comprising at least one memory and at least one processor, configured to:
• determine the distal end posture represented by the bending angle and the turning angle based on a coordinate position at which a spherical link center of the distal end side link hub is projected onto a two-dimensional rectangular coordinate system, the coordinate position being a coordinate position at which, when the axis of the distal end side link hub is inclined relative to the axis of the proximal end side link hub, an imaginary line, orthogonal to the two-dimensional rectangular coordinate system and passing through the spherical link center of the distal end side link hub, intersects the two-dimensional rectangular coordinate system, and
• wherein the two-dimensional rectangular coordinate system is orthogonal to an extension of the axis of the proximal end side link hub and has an origin at a point of intersection between the extension of the axis of the proximal end side link hub and the two-dimensional rectangular coordinate system.