DE102008062622B9 - Method and device for entering commands into a controller of a manipulator - Google Patents

Abstract

A method of command input to a controller of a manipulator, in particular a robot, comprising the steps of: (a1) detecting a first force (Fy) exerted on the manipulator in a first direction (y) by an operator on the manipulator in a command input mode; (b1) comparing the detected first force with stored forces (Fyi), each associated with a command (Bi); (c1) output of the command associated with this stored force to the controller of the manipulator if the detected first force coincides with a stored force.

Description

The present invention relates to a method and apparatus for inputting one or more instructions into a controller of a manipulator.

In the present case, a manipulator is understood to mean, in particular, single- or multi-axis robots, measuring and machine tools, for example non-driven coordinate measuring machines. Such manipulators generally have a control for carrying out certain movements, for example for traversing predetermined trajectories, for storing certain measuring positions or the like. In the present case, a control, for example a force or position control of a robot, is therefore also referred to as a controller.

To operate the manipulator, it is necessary to enter one or more commands into such a controller. For example, commands for approaching certain positions, for traversing given trajectories, for actuating tools, such as opening or closing a gripper or activating a welding tongs, a drilling or milling head or the like, are input into a robot controller. Similarly, in a machine tool, commands to start a feed, change a rotational speed of a workpiece or tool, or the like are input to a measuring machine, commands to start or stop data recording, change a measurement accuracy, or the like. Such commands can act directly on the manipulator via the controller or be stored in the form of a program in order subsequently to be converted by the controller into a desired action of the manipulator.

It is for inputting commands that determine a working process of a robot, for example starting a starting position, activating a milling tool, traversing a given trajectory for machining a workpiece with the milling tool, shutting down the milling tool and returning to a neutral position for example from the EP 0 850 730 B1 It is known to move the robot manually to the desired starting position and then along the trajectory to be traveled or to points on this trajectory. In order to enter commands, for example the storage of the current position as a desired position, the actuation of a tool or the procedure in a neutral position, an additional keyboard or the like has been required in the case of this so-called direct teaching the operator manually entering the robot manually enters the appropriate commands. Not only does this require additional equipment and increased transmission overhead between the input device and the controller, it also hinders the operator in direct programming because he has to manipulate or release the robot with one hand to operate the keyboard.

From the JP S59-157715 A For example, there is known a method of directly teaching a robot in which an operating force of an operator applied to a force sensor is converted into a voltage. This stress is converted to forces in three orthogonal axial directions and moments to axes in a hand coordinate system. On the basis of these forces and moments, a target value of the movement speed of a hand is calculated and converted into coordinate values.

The DE 32 11 992 A1 describes a method for programming a path-controlled robot, wherein at least one handle with sensors is attached during the programming process on the robot, which emit under load electrical signals which are given on the one hand as control signals to the robot servo motors and on the other hand as programming signals in the robot memory ,

From the DE 198 00 552 C2 For example, there is known a method of command manipulating a manipulator based on end effector target offsets commanded by a programmer or superordinate task using a hand control ball or the like, in conjunction with a calculation of joint position values according to an inverse kinematics algorithm.

The US 2008/0188985 A1 discloses a robot control unit having speed adjustment means for adjusting a predetermined speed, comprising decoding means for decoding a movement stop command in accordance with a force detection value detected by a force sensor attached to the wrist of the robot.

From the US Pat. No. 4,621,332 A For example, a method for controlling a robot is known, wherein a force signal is calculated by detecting a force applied to a hand of the robot. A first value representing a difference between the force signal and a force reference, a second value representing a product of a difference between a position signal and a position reference multiplied by a spring constant, and a third value representing a product of a velocity signal multiplied by a viscosity coefficient and an instruction speed are calculated based on the first, second, and third values.

The object of the present invention is therefore to simplify a command input into a controller of a manipulator.

This object is achieved by a method according to claim 1 or 7 or a device according to claim 15 or 18.

The present invention is based on the idea to enter commands directly by appropriate manipulations of the manipulator. While it so far, for example from the EP 0 850 730 B1 Having merely been known to move a robot by pulling its end effector toward the force acting on the end effector, the present invention makes it possible to enter further, in particular no movement and more complex, commands according to the invention by a first force acting on the Manipulator acts, a sequence of a first force and a second force acting successively on the manipulator, a first movement of the manipulator, or a sequence of first and second movements of the manipulator is compared with stored forces, movements, depending a command is assigned. If a force, movement or sequence is detected that corresponds to a stored force, movement or sequence, this is detected as an input of the command associated with this stored force, movement or sequence, which is output to the controller of the manipulator.

For this purpose, in a first embodiment of the present invention, forces which an operator exerts on the manipulator in predetermined directions, for example by force sensors, are detected. For a tighter representation, the same pairs of forces, i. e. Torques, in the following generalized also referred to as forces. So if, for example, a force sensor is mentioned below, this equally includes a torque sensor.

Such force sensors may, for example, be provided on an end effector of the manipulator, a manipulator-connected guide handle or a motor of the manipulator and detect forces acting thereon, an operator directly on the end effector or the guide handle, or indirectly, for example via the end effector or the guide handle on motors of the manipulator exercises.

For example, if a conventional industrial robot equipped with a stiff position control that holds the robot in its current position, or fixed a non-driven coordinate measuring machine with brakes in one position, this or this manually by an operator can not or only slightly moved. In this case, the above-described detection of the forces acting in the given directions on the manipulator forces is particularly advantageous. For example, an operator at a member of the robot first in a first, by a force sensor on the robot member directly or by force sensors in the drives of the robot indirectly detected direction with a predetermined minimum force pull and then in a second, detected by the same or other force sensors direction press on the robot link. If this sequence of a first force in the first direction and a second force in the second direction is stored as a sequence, which is associated with a specific command, such as releasing a brake of a motor of the robot or the change of the parameters of the position control, according to the invention of the forces applied to the operator in the stored order on the end effector as input of the associated command. Thus, for example, it is possible to compliant a rigidly connected robot by repeatedly pulling on a robot member in certain directions, which is possible, for example, by omitting an integral component and reducing the proportionality constant in a proportional-proportional-derivative (PID) position control of the robot ,

In the first embodiment, where the forces are detected, it is not necessary for the manipulator to move at all or significantly under the forces exerted by the operator on it to input a command. This is advantageous, for example, in measuring machines in which the command input according to the invention does not necessarily lead to a movement of the measuring machine in conjunction with a departure from a position just approached.

On the other hand, the lack of feedback from a manipulator that does not respond, or at least not clearly respond, to the forces applied to the command input makes it difficult to operate because, for example, the operator can not detect whether he has sufficient first force due to movement of the manipulator the first direction has already exercised or not.

According to a second embodiment of the present invention, movements of the manipulator are therefore detected in place of forces exerted on the manipulator. In the second embodiment of the present invention, a movement of the manipulator in a first direction of movement and in a development of the second embodiment, a subsequent movement of the manipulator is detected in a second direction of movement and with stored movements in the first direction of movement or sequences of movements in the first and second direction of movement compared, each associated with a command. If the detected movement or movement sequence coincides with a stored movement sequence, ie if the manipulator is moved by the operator in a manner to which a specific command is assigned, this command is output to the controller of the manipulator.

For this purpose, the manipulator is preferably designed compliant, d. H. by forces manually applied to it by the operator for command input to a noticeable extent. This can be realized, for example, as described above, by a pure proportional position control with correspondingly low proportionality constants. Likewise, such a yielding manipulator can also be force-controlled. For this purpose, for example, in his control using a mathematical replacement model, the forces can be calculated that just compensate for weight and friction forces in its current position. If these forces are applied to the force controls of the motors of the manipulator as setpoints, the manipulator can already be moved by relatively small forces from its current position. Another way, a manipulator yielding, d. H. By the forces applied to the command input thereto, to make recognizably movable, it is necessary to grasp the forces exerted on it and to react to them with a corresponding movement in the direction of these forces and, preferably, with a movement speed corresponding to the magnitude of the forces.

In such a yielding manipulator, therefore, the forces exerted on him for command input lead to a measurable, preferably also recognizable by the operator movement of the manipulator. This gives the operator feedback about the forces exerted by him. In particular, he recognizes by a corresponding movement of the manipulator in a first direction of movement that he has sufficiently moved the manipulator in the first direction to enter the command associated with this stored movement. In the further development of the second embodiment, the operator can then move the manipulator according to the stored sequence in the second direction to enter the associated with this stored sequence command.

Particularly in the case of compliant manipulators, the movement in the first or second direction can be a movement of the manipulator in its so-called null space, i. e. the set of all positions or poses of the manipulator, which realize as identically defined Endeffektorstellungen. If the manipulator is redundant, i. e. has more degrees of freedom, for example, more joints, as required for the realization of a defined Endeffektorstellung, a resilient manipulator can be moved by an operator in his limbs, i. e. be transferred to different positions in the zero space without the end effector changes its defined position in the Cartesian space. Such a movement, which does not change the position of the end effector and thus, for example, a working point of a robot, is particularly suitable for command input.

For example, a six-axis industrial robot is redundant with respect to an end effector position in which the orientation of its end effector about the sixth hinge axis is not predetermined due to a symmetrical tool. Here, about a rotation of its end effector about the sixth hinge axis could be selected as the first direction, so that a rotation of the end effector is detected by a certain angle as movement in the first direction and compared with stored movements, such as rotation angles, to input a command.

A seven- or multi-axis service robot, for example, a lightweight robot LBR series of the German Aerospace Center, is redundant in terms of a given position and orientation of his gripper in the Cartesian space, so here, for example, the movement of the elbow joint in various poses as Movement in the first direction can be detected and compared with stored movements to enter a command.

In a preferred embodiment of the present invention, a stored force, movement or sequence comprises the magnitude of the forces or movements, ie. H. their amount and / or direction, their time course, in particular their temporal change and / or the time interval between the forces or movements. For example, a stored movement may be the speed i. e. changing the position of the manipulator over time, accelerating, i. e. include the change in the speed of the manipulator over time and / or a higher derivative with time.

This significantly increases the number of instructions that can be encoded by the sequence. In addition, by taking into account the size, the time course or the time interval, it is advantageously possible to distinguish forces or movements, which are applied or executed according to the invention for inputting a command, from those forces or movements which are used for other purposes, For example, to bring a robot in a target position in the context of direct programming, exercised on this or run with this.

For example, by repeatedly pressing or pulling back and forth quickly on the end effector of a manipulator, ie a high speed or acceleration can be switched to an input mode in which further forces or movements are interpreted exclusively as a command input. By again short or rapid pulling and pulling of the end effector, ie again high speeds or accelerations can be switched back into a normal mode, in which the end effector of the manipulator can be manually placed in nominal positions.

The first and second direction of force or movement need not necessarily be different from each other. Thus, for example, by rotating the end effector by 90 ° in one direction of rotation, followed by a brief pause and then rotating the end effector by a further 90 ° in the same direction of rotation, a command can also be entered.

Advantageously, the stored forces, movements or sequences assigned to the commands are selected such that they generally do not occur during normal manipulation of the manipulator, for example during direct programming of a robot by manual operation of its end effector. This can be done, for example, by repeated application of a force or movements of the manipulator in the same or in opposite directions.

The force or movement directions can be specified in an inertial or manipulator-fixed coordinate system. Thus, for example, a force that is exerted in a spatial direction on an end effector of a manipulator, or a movement of the end effector by the operator in this spatial direction can always be detected as force or movement in the first direction, regardless of the respective position of the manipulator and the location of its end effector. Similarly, a force or movement direction can also be defined relative to the manipulator, so that, for example, pulling on the end effector in the direction of its axis of rotation, independently of the position of the manipulator, i. e. regardless of the orientation of the axis of rotation of the end effector in space is always detected as a force or movement in the first direction.

In general, it is preferred that the predetermined force or movement directions correspond to possibilities of movement of the manipulator in its joints. Thus, for example, the first and / or second direction can be defined by a movement of the manipulator in a joint or by coordinated, for example parallel, opposite or complementary movements of the manipulator in a plurality of joints, such as rotation q _{2 of} a manipulator member about a pivot axis or as Rotations q ₃ = 2q ₂ in two consecutive, parallel swivel joint axes through which a straight line in Cartesian space is traversed.

By storing and comparing forces or movements in a first direction commands can be entered very easily and intuitively. For example, the pressing of a probe of a coordinate measuring machine can be assigned to the beginning or end of a measurement record. In this case, a first direction is not necessarily Euclidean linear. For example, a first direction may also be a circular path with a predetermined orientation in space and / or a given radius. If the operator moves a limb of a robot on such a circular path by a certain arc length, for example π or 2π, this can be assigned to a command, for example the selection of a control mode.

By storing and comparing sequences of forces or movements in a first and a second direction, advantageously, a larger command dictionary can be mapped and, in particular, sequences can be assigned instructions which are not or rarely occur during normal operation of the manipulator. Such sequences, in addition to or instead of forces or movements in a first direction, can be assigned commands in order to provide an intuitively and quickly learnable command dictionary (especially when storing and comparing only forces or movements in a first direction), In particular, when storing and comparing only force or movement sequences in a first and second direction) to reduce the risk of unwanted command input by random movement or force application in a first direction, or (especially when storing and comparing both forces or. Movements in a first direction as well as of power sequences in a first and second direction) to provide a very large command dictionary.

The present invention is not limited to sequences of two successive forces exerted on the manipulator or movements performed thereon. In particular for coding an even more extensive command lexicon, correspondingly more complex sequences can be stored, so that three or more forces must be exerted one after the other in a predetermined direction on the manipulator or three successive movements must be carried out with it in order to input a command from such a command encyclopedia.

In order to apply forces to or from the manipulator for inputting a command to the controller of the manipulator from the outset by other forces, for example accidentally and unintentionally exerted thereon or merely moving a resilient manipulator , or of movements that serve, for example, the transfer to a desired working position of the manipulator, a control handle is provided in a preferred embodiment of the present invention, with the forces can be exerted on the manipulator or with which the manipulator are moved and having an input device for inputting a signal to switch between a normal mode and a command input mode. Preferably, such a guide handle is fixedly or detachably connected to the manipulator, for example welded, screwed or plugged into its end effector.

In the command input mode, which can be toggled, for example, by operating the input device one or more times or continuously, any force applied to the manipulator or any movements made with the manipulator is considered part of a sequence used to input a command. On the other hand, in the normal mode, forces acting on the manipulator or movements performed therewith are not considered to be used for command input. This makes it possible to detect the force acting on the manipulator forces or movements performed with the manipulator only during the command input mode, which prevents unintentionally by a force or during normal mode in which, for example, a robot is manually guided to a desired position Motion sequence is entered a command.

Similarly, the forces exerted on the manipulator or movements performed therewith can also be continuously detected, such that a sequence which is executed, for example, during a direct programming by the operator and which corresponds to a stored sequence, independently of the operation of an input device or is recognized as a command input sequence, and the associated command is output to the controller of the manipulator.

The security of the command input may be further increased by a two-step method according to a preferred embodiment of the present invention. For this purpose, it is provided to give the operator feedback about the force applied by a force exerted by him or an induced by him movement of the manipulator command to which the operator with a confirming input, such as pressing an input device, an acoustic response or a further command input must respond by means of the method according to the invention. Only if the command has been acknowledged by the operator will the command associated with the stored force, motion or sequence be output to the controller of the manipulator. The feedback can be done, for example, visually, for example by a display, acoustically, for example by outputting a speech sequence, and / or haptically, for example by vibrating the manipulator. This reduces the risk of accidental command input, for example due to a confusion of the associated sequences.

Such feedback is also useful, in particular, to enter more complex commands stepwise and successively. Often, for example, to a specific command of a robot, such as "touch up", the position of the robot to be stored, in which he should execute this command. For this purpose, in a preferred embodiment of the present invention, the command can first be input according to the invention by a force, movement or sequence. Subsequently, the manipulator is moved by the operator into the position provided for executing this command and stored, wherein the command input and / or the reaching of the position to be stored by inputting a signal by the operator, such as pressing or releasing a switch is entered. For this purpose, after input of the command and / or storage of the assigned position of the manipulator feedback, such as a visual display or audible message can be issued.

The forces exerted by an operator for command input or executed movements generally do not match exactly with stored sequences, in particular with respect to their sizes, time courses or time intervals. Advantageously, the stored forces, movements or sequences therefore have predetermined tolerance fields. In other words, a force is exerted by the operator on the manipulator or a movement is carried out with the manipulator whose direction, size, time course or distance to a previously applied force or executed movement from the direction, size, the time course or However, this difference is within a predetermined maximum range, the comparison of the detected and stored force or movement results in a match between the time interval of a stored force, movement or sequence.

For this purpose, the stored sequences into simple primitives, for example force or movement upwards / downwards, left / right, front / rear or the like, are split particularly advantageously, so that a force or movement which is in the Essentially forward is assigned to the primitive "front". Due to the succession of such primitives, for example "top" → "right", even more complex commands or a corresponding command grammar can then be reliably entered.

Equally, however, other pattern recognition methods can also be used, for example, neural network-based learning methods, fuzzy methods or other pattern recognition methods known in particular from image processing.

Other objects, features and advantages of the present invention will become apparent from the dependent claims and the following embodiments. This shows, partially schematized:

1 a four-axis manipulator with a command input device according to an embodiment of the present invention when inputting a command; and

2 a flowchart of a method according to an embodiment of the present invention.

In 1 is schematically a four-axis robot 1 represented, whose trunk 1.1 can rotate around the y-axis of a robot-fixed coordinate system. An upper arm connected to the trunk 1.2 turns relative to this axis parallel to an x-axis of the robot-fixed coordinate system axis. A forearm 1.3 and an end effector 1.4 are parallel axes to the upper arm 1.2 rotatably attached to this or the forearm. At the end effector 1.4 is a guide handle 2 infected. In the hull 1.1 For example, a controller of the manipulator in which a command input device according to an embodiment of the present invention is implemented is arranged.

The robot 1 is compliant, ie it can be moved manually by an operator. This is done in the four movement axes of the robot 1 By force-controlled motors (not shown) torques exerted on the axes, the weight forces of the end effector 1.4 and the upper and lower arm 1.2 . 1.3 compensate in their respective position. Therefore, the operator exerts a force in the y-direction on the guide handle 2 out, he can be the end effector 1.4 just move in that direction. If he lets go of the guide handle, the robot remains 1 in the new position.

In the exemplary embodiment, the command "touch up" in a controller (not shown) of the robot 1 be entered. For this purpose, the operator moves by means of the guide handle 2 the end effector 1.4 in the in 1 dashed lines indicated manner first rapidly upwards, ie in the y-direction of the robot-fixed coordinate system, and then forward, ie in the z-direction of the robot-fixed coordinate system.

This movement is detected by resolvers in the four movement axes of the robot (not shown). Since such a sequence of rapid orthogonal movements is usually associated with the direct programming of a robot, i. H. a manual movement of its end effector in desired target positions, usually does not occur, this movement sequence "top" → "front" associated with the command "touch up".

According to the invention, during a direct programming of the robot in a step a1), a first movement Δy in a first movement direction y and, immediately thereafter, in a step a2) a second movement Δz in a second movement direction z are detected ( 2 ). This sequence of movements is compared in a step b2) with the stored movement sequences. Since it coincides with the stored sequence of movements associated with the "touch up" command (step b2): "Y"), in step d) the detected command is output acoustically via voice output. If the detected movement sequences do not coincide with any stored movement sequence (step b2): "N"), the apparatus returns to step a1).

In order to confirm the acoustically issued command, the operator presses an input device on the guide handle in a step e) 2 in the form of a button (not shown). Only after this confirmation of the command Bi (step e): "Y") is this output in a step c2) to the controller, which incorporates it into the sequence program created by the direct programming.

As a modification, the command "Start CIRC" should be entered. For this command, the sequence of movements "top" → "small circle" is stored. Accordingly, the operator guides by means of the guide handle 2 the end effector 1.4 in the in 1 indicated by dashed lines first upward and then successively forward, left, back and right to enter this sequence of movements. Because such a trajectory of the end effector 1.4 can also be provided for a machining process, the operator operates at the beginning of the above-described sequence of movements, ie before he the end effector 1.4 moved upwards, the input device on the guide handle 2 by pressing the button (not shown) and holding it pressed during the above sequence of movements. As a result, the command input device recognizes that the sequence of movements executed during operation of the button is for command input. It sequentially captures the movements "up", "front", "left", "back" and "right" and assigns the order "start CIRC" to this sequence of movements. This command is the command input device to the controller of the robot 1 This command integrates this command into the programming program of the robot created by direct programming.

In a further modification of the embodiment described above are the force regulator of the robot 1 stiff, allowing the operator the end effector 1.4 can not move manually or not detectable. For this purpose, the four movement axes of the robot 1 Position-controlled by high-gain PID controllers.

Now the operator applies a force Fy in y-direction on the guide handle 2 off, the end effector moves 1.4 Not. Nevertheless, force sensors (not shown) of the force-controlled motors in the four axes of motion register a corresponding one on the end effector 1.4 Acting force. From this, using a mathematical replacement model after eliminating the weight forces of the robot, the operator in the y-direction to the end effector 1.4 applied first force to be detected.

After the operator has applied the first force Fy for a certain time, he pulls on the guide handle 2 in the z direction. Although the end effector 1.4 of the rigidly controlled robot 1 Still not moved, a second force Fz is detected in an analogous manner by the force sensors in the motors, which acts on the manipulator in the second direction.

The sequence Fyi → Fzi of a first force Fy in the y-direction, followed by a second force Fz in the z-direction is also associated with the command Bi = "touch up". Thus, by applying forces to the manipulator by the operator, a command can be entered even if the rigid manipulator does not or not noticeably move under these forces.

LIST OF REFERENCE NUMBERS

1

robot

1.1

hull

1.2

upper arm

1.3

forearm

1.4

end effector

2

guide handle

q1, q2, ... q4

joint angle

x, y, z

Robotic coordinate system

O

"(up"

V

"(Forward"

L

"(to the left"

H

"(To) behind"

R

"(to the right"

Claims (22)

Method for entering commands into a controller of a manipulator, in particular of a robot, with the steps: (a1) detecting a first force (Fy) exerted on the manipulator in a first direction (y) by an operator on the manipulator in a command input mode; (b1) comparing the detected first force with stored forces (Fyi), each associated with a command (Bi); (c1) output of the command associated with this stored force to the controller of the manipulator if the detected first force coincides with a stored force. Method according to Claim 1, characterized in that the magnitude (| F |) of detected forces, the time profile (F (t)) of detected forces, the temporal change (d ^k F / dt ^k ) of detected forces and / or the time interval (T) between the action of detected forces is detected, and that the stored forces include the size, the time course, the temporal change of forces and / or the time interval between the action of forces. Method according to one of the preceding claims, characterized by the steps: (a2) detecting a second force (Fz) acting on the manipulator in a second direction (z) after the first force has acted; (b2) additionally or alternatively to step (b1): comparing the sequence (Fy → Fz) of the detected first and second force with stored sequences (Fyi → Fzi), each associated with a command (Bi); (c2) additionally or alternatively to step (c1): output of the instruction associated with this stored sequence to the controller of the manipulator, if the sequence of the detected first and second force coincides with a stored sequence. Method according to one of the preceding claims, characterized in that the forces acting on the manipulator are continuously compared with the stored forces and / or sequences. Method according to one of the preceding claims 1 to 3, characterized in that the forces acting on the manipulator forces are compared only in a command input mode with the stored forces and / or sequences. A method according to claim 5, characterized in that the command input mode is activated by operating an input device. Method for entering commands into a controller of a manipulator, in particular of a robot, with the steps: (a1) detecting a first movement (Δy) of the manipulator in a first direction (y); (b1) comparing the detected first motion with stored motions (Δyi) each associated with a command (Bi); (c1) output the instruction associated with this stored movement to the controller of the manipulator if the detected first movement matches a stored movement. A method according to claim 7, characterized in that the size (| Δ |) of detected movements, the time course (Δ (t)) detected movements, the temporal change (d ^k Δ / dt ^k ) detected movements and / or the time interval (T) between detected movements is detected, and that the stored movements include the size, the time course, the temporal change of movements and / or the time interval (T) between movements. Method according to one of the preceding claims 7 to 8, characterized by the steps: (a2) detecting a second movement (Δz) of the manipulator in a second direction (z) after the first movement is performed; (b2) additionally or alternatively to step (b1): comparing the sequence (Δy → Δz) of the detected first and second movement with stored sequences (Δyi → Δzi), each associated with a command (Bi); (c2) additionally or alternatively to step (c1): output of the instruction associated with this stored sequence to the controller of the manipulator, if the sequence of the detected first and second movement coincides with a stored sequence. Method according to one of the preceding claims 7 to 9, characterized in that the movements of the manipulator are continuously compared with the stored movements and / or sequences. Method according to one of the preceding claims 7 to 9, characterized in that the movements of the manipulator are compared only in a command input mode with the stored movements and / or sequences. A method according to claim 11, characterized in that the command input mode is activated by operating an input device. Method according to one of the preceding claims, characterized in that the first and / or second direction or inertial manipulator is fixed. Method according to one of the preceding claims, characterized by the steps: (d) outputting the command to be issued to the controller of the manipulator to an operator before issuing the command to the controller of the manipulator; (e) output of the command to be issued to the controller of the manipulator to the controller of the manipulator, if the command has been confirmed by the operator. Device for command input into a controller of a manipulator, in particular a robot, according to a method according to one of the preceding claims, comprising: A first force detection for detecting a first force (Fy) exerted on the manipulator in a first direction (y) by an operator on the manipulator in a command input mode; - a memory for storing forces (Fyi) and commands associated with these forces (Bi); - Comparative means for comparing the detected first force (Fy) with stored in the memory forces; An output device for outputting the command associated with the stored force to the controller, with which the detected first force coincides. Apparatus according to claim 15, characterized in that the force detection comprises force sensors for detecting forces which engage an end effector of the manipulator, a guide handle connected to the manipulator and / or a motor of the manipulator. Device according to one of claims 15 to 16, characterized by: - a second force detection for detecting a second force (Fz) acting on the manipulator in a second direction (z); In addition to or as an alternative to a memory for storing forces and instructions associated with these forces: a memory for storing sequences of a first and a second force (Fyi → Fzi) and instructions (Bi) associated with these sequences; Additionally or alternatively to a comparison device for comparing the detected first force with forces stored in the memory: comparison means for comparing the sequence of the detected first and second forces (Fy → Fz) with sequences stored in the memory; - In addition or alternatively to an output device for output of the stored force associated command to the controller: output means for outputting the command associated with the stored sequence to the controller with which the sequence of detected first and second forces coincide. Device for command input into a controller of a manipulator, in particular a robot, according to a method according to one of the preceding claims, comprising: A first movement detection for detecting a first movement (Δy) of the manipulator in a first direction (y); A memory for storing movements (Δyi) and instructions associated with these movements (Bi); A comparison device for comparing the detected first movement (Δy) with movements stored in the memory; An output device for outputting the instruction associated with the stored movement to the controller, with which the detected first movement coincides. Apparatus according to claim 18, characterized in that the movement detection motion sensors for detecting movements (.DELTA.Y, .DELTA.z), which performs a member of the manipulator, in particular an end effector, a handle connected to the manipulator and / or a motor of the manipulator. Device according to one of claims 18 to 19, characterized by: A second movement detection for detecting a second movement (Δz) of the manipulator in a second direction (z); - In addition to or as an alternative to a memory for storing movements and commands associated with these movements: a memory for storing sequences of a first and a second movement (Δyi → Δzi) and commands (Bi) associated with these sequences; Additionally or alternatively to a comparison device for comparing the detected first movement with movements stored in the memory: a comparison device for comparing the sequence of the detected first and second movement (Δy → Δz) with sequences stored in the memory; In addition to or as an alternative to an output device for outputting the command associated with the stored movement to the controller: an output device for outputting the command assigned to the stored sequence to the controller, with which the sequence of detected first and second movements coincides. Device according to one of the preceding claims 15 to 20, characterized by a guide handle connected to the manipulator, which has an input device for inputting a signal and / or for confirming a command. Device according to one of the preceding claims 15 to 21, characterized in that the manipulator is manually movable.

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