Operating device for controlling or programming a manipulator
AssigneeKUKA Roboter GmbH
InventorMartin RIEDEL
Life of this patent
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Abstract
An operating device for controlling or programming a manipulator with six degrees of freedom that can be controlled independently from one another. The operating device includes three input arrangements which are each configured to specify a movement of the manipulator along an x-axis, y-axis or z-axis of the manipulator, and to specify a rotation of the manipulator about the x-axis, y-axis or z-axis of the manipulator. The three input arrangements are thereby respectively aligned along one of three main axes of the operating device.
Claims20
An operating device for controlling or programming a manipulator with six degrees of freedom that can be controlled independently from one another, having:
- a first input arrangement which is configured to specify a movement of the manipulator along an x-axis of the manipulator, and to specify a rotation of the manipulator about the x-axis of the manipulator, wherein the first input arrangement is aligned along a first main axis of the operating device;
- a second input arrangement which is configured to specify a movement of the manipulator along a y-axis of the manipulator, and to specify a rotation of the manipulator about the y-axis of the manipulator, wherein the second input arrangement is aligned along a second main axis of the operating device;
- and
- a third input arrangement which is configured to specify a movement of the manipulator along a z-axis of the manipulator, and to specify a rotation of the manipulator about the z-axis of the manipulator, wherein the third input arrangement is aligned along a third main axis of the operating device,
- wherein the x-axis, y-axis, and z-axis of the manipulator are orthogonal to one another, and
- wherein the main axes of the operating device are substantially at right angles to one another.
A manipulator system, comprising:
- a manipulator having six degrees of freedom that can be controlled independently from one another;
- and
- an operating device for controlling or programming the manipulator, the operating device comprising:
- a first input arrangement which is configured to specify a movement of the manipulator along an x-axis of the manipulator , and to specify a rotation of the manipulator about the x-axis of the manipulator, wherein the first input arrangement is aligned along a first main axis of the operating device;
- a second input arrangement which is configured to specify a movement of the manipulator along a y-axis of the manipulator, and to specify a rotation of the manipulator about the y-axis of the manipulator, wherein the second input arrangement is aligned along a second main axis of the operating device;
- and
- a third input arrangement which is configured to specify a movement of the manipulator along a z-axis of the manipulator, and to specify a rotation of the manipulator about the z-axis of the manipulator, wherein the third input arrangement is aligned along a third main axis of the operating device,
- wherein the x-axis, y-axis, and z-axis of the manipulator are orthogonal to one another, and
- wherein the main axes of the operating device are substantially at right angles to one another.
Dependencies are inferred from the claim text.