To provide an operating device specifying a desired distal end orientation in an orthogonal coordinate system to thereby performing teaching intuitively in a link actuation device in which control of an actuator for changing a distal end orientation is handled in an angle coordinate system.
A link actuation device 51 couples a distal-end-side link hub 3 via three or more sets of link mechanisms 4 so that the orientation is changeable with respect to a proximal-end-side link hub 2, and arbitrarily changes the distal end orientation, which is the orientation of the distal-end-side link hub 3 with respect to the proximal-end-side link hub 2, by an actuator 53 provided to two or more sets of link mechanisms 4. An operating device 55 includes: an orientation specifying means 53a for specifying, by manual operation, the desired distal end orientation at a coordinate position in the orthogonal coordinate system; an orientation acquiring means 53b for acquiring the distal end orientation represented in the angle coordinate system by calculation from the specified coordinate position; and an orientation information imparting means 53c for presenting information on the acquired distal end orientation to a control device 54 controlling the actuator 53.
ISOBE HIROSHI
YAMADA HIROYUKI
| JP2011240440A | 2011-12-01 | |||
| JP2002273676A | 2002-09-25 | |||
| JP2005226777A | 2005-08-25 | |||
| JPH10138184A | 1998-05-26 |
Shuji Sugimoto
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