PURPOSE: To lead the position attitude of a robot, reducing the restraint in designing a manipulator and reducing the load applied to an operator. ;CONSTITUTION: A controller 4 leads a led part 2 so that each of the measurement value for the relative position between a position attitude leading means 3 and the led part 2 and the measurement value of the attitude keeps each prescribed value when the relative position between the led part 2 and the position attitude leading means 3 and the attitude are measured through a distance sensor 3a and a camera 3b, and the position attitude leading means is shifted.;COPYRIGHT: (C)1994,JPO&Japio
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