Control auxiliary with six degrees of freedom with automatic return to the reference position intended for teaching manipulator robots and polyarticulated mechanical assemblies the trajectory in space of generalised or operational coordinates

摘要

Control auxiliary with six degrees of freedom for teaching manipulator robots and polyarticulated mechanical assemblies trajectories. The invention relates to a device with six degrees of freedom with automatic return to the reference position and the set-up of a speed control using analog, digital and all-or nothing type position sensors. It consists of a ball or an ergonomic grip held by six carefully arranged return springs. The information necessary for controlling the speed according to three coordinates and three orientations is provided by six sensors. IMAGE