To provide a conveyer capable of holding a workpiece by two manipulators placed in parallel and conveying the workpiece in an arbitrary direction in a three-dimensional space by operation force applied by a human to the workpiece.
The conveyer includes workpiece holding means 14 and 15 for holding the workpiece 19 and an operation control section for controlling the manipulators 11 and 12 for conveying the workpiece 19. It includes two sets of force detection means 16 and 17 which are provided in parallel, an operation force detection section for detecting the operation force from outputs of the two sets of the detection means 16 and 17, and a force control section for moving the manipulators 11 and 12 according to the operation force detected by the detection section. In addition, the two sets of force detection means 16 and 17 are respectively mounted on the two manipulators 11 and 12 placed in parallel.
NAGATA HIDEO
HANDA HIROYUKI
