DE102008062622A1 - Method for command input in controller of manipulator, particularly robot, involves detecting force, which acts on manipulator in specific direction, and comparing detected force with stored forces - Google Patents

Abstract

The method involves detecting (a1) a force, which acts on a manipulator in a specific direction. The detected force is compared with stored forces, where each stored force is assigned with a command. A command, assigned to the stored force, is issued at a controller of a manipulator when the detected force matches with one of the stored forces. An independent claim is also included for a device for command input in a controller of a manipulator, particularly a robot.

Description

The The present invention relates to a method and an apparatus to enter one or more commands into a controller of a Manipulator.

Under In the present case, a manipulator is in particular one-axis or multi-axis Robots, measuring and machine tools, such as non-driven Coordinate measuring machines, understood. Such manipulators point generally a controller for performing certain movements, for example, to depart from predetermined trajectories, to save certain measurement positions or the like. As a controller is Therefore, in the present case, in particular also a regulation, for example denotes a force or position control of a robot.

To the Operation of the manipulator requires one or more Enter commands in such a controller. For example in a robot control commands for approaching certain positions, to depart from given trajectories, to operate tools, such as opening or closing a gripper or activating a welding gun, a drilling or milling head or the like entered. Similarly, in a machine tool commands for Start of a feed, to change a speed of a Workpiece or -zeuges or the like entered, at a measuring machine commands to start or stop a data recording, change a measurement accuracy or the like. Such commands can be over the control act directly on the manipulator or in shape of a program are stored in order to subsequently through the controller in a desired action of the manipulator to be implemented.

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 input commands, for example, the storage of the current position as a target position, the operation of a tool or the method in a neutral position, in this so-called direct programming ("direct teaching") previously required an additional keyboard or the like, via 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.

task It is therefore an object of the present invention to provide a command input in to simplify a controller of a manipulator.

These The object is achieved by a method according to claim 1 or 7 or a Device according to claim 15 or 18 solved.

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.

In a first embodiment of the present invention this forces an operator in predetermined directions on the manipulator, for example by force sensors, detected. For concise presentation, opposite pairs of forces, i. e. Torques, in the following generalizing also as forces designated. So if below, for example, by a force sensor this is equally true for a torque sensor.

Such For example, force sensors can be attached to an end effector of the manipulator, a handle connected to the manipulator or be provided to a motor of the manipulator and attacking there Forces 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.

is For example, a conventional industrial robot with a Stiff position control equipped the robot in his current position, or a non-driven coordinate measuring machine fixed with brakes in one position, this or this can from manually or only slightly moved to an operator. In this case, the detection explained above is the acting in the given directions on the manipulator Forces particularly advantageous. For example, an operator on a limb of the robot first in a first, through a force sensor on the robot member directly or by force sensors in the drives of the robot indirectly detected direction with a pull predetermined minimum force and then in a second, detected by the same or other force sensors direction press on the robot link. Is this sequence of a first force in the first direction and a second force in the second direction stored as a sequence of a particular command, for example releasing a brake of a motor of the robot or the change the parameter of the position control is assigned, according to the invention from the operator in the stored order to the end effector applied forces as input of the assigned Understood command. So it is possible, for example, a stiff robot by pulling several times on a robot member in certain directions yielding, for example by omission of an integral component and reduction of the proportionality constant in a proportional-integral-derivative (PID) position control of the robot is possible.

at the first version in which the forces are detected it is not necessary for the manipulator to be under the operator's action on him to enter a command Forces at all or at least significantly emotional. This is for example in measuring machines in which the Command input according to the invention is not necessarily to a movement of the measuring machine, associated with a leaving to lead a just approached position, advantageous.

On On the other hand, the lack of feedback from one makes it difficult Manipulator that is not or at least not clear on the Command input reacts to forces exerted on it, the operation, since the operator, for example, not due to a Movement of the manipulator can detect if he has sufficient first force in the first direction has already exercised or not.

According to one Second embodiment of the present invention will therefore in place of forces exerted on the manipulator Movements of the manipulator recorded. In the second embodiment of This invention is for this purpose a movement of the manipulator in a first direction of movement and in a development of the second Execution also a subsequent movement of the Manipulator recorded in a second direction of movement and stored Movements in the first direction of movement or sequences of movements in compared to the first and second directions of movement, respectively a command is assigned. Tunes the detected movement or sequence of movements with a stored movement or sequence of movements, d. H. the manipulator is moved by the operator in a manner which is assigned a particular command, this command becomes the controller of the manipulator is issued.

For this the manipulator is preferably compliant, d. H. by manually exerting on it by the operator for command input Forces are noticeably movable. This can For example, as described above, by a pure proportional position control be realized with correspondingly low proportionality constants. Likewise, such a yielding manipulator can be force-controlled. For this purpose, for example, in his Control using a mathematical replacement model the forces be calculated in its current position weight and Just compensate for frictional forces. Will these forces the force control of the motors of the manipulator as setpoints switched on, the manipulator can already by relatively low Forces are moved from his current position. A another way, a manipulator yielding, d. H. by the forces exerted on him to enter the command, To make it recognizably movable is to exercise the same Forces to capture and respond to these with a corresponding Movement in the direction of these forces and, preferably, with one corresponding to the size of the forces Movement speed to respond.

at Such a yielding manipulator thus lead the to forces exerted on him to enter the command a measurable, preferably also recognizable by the operator movement of the manipulator. This gives the operator feedback about the forces exercised by him. In particular, recognizes he by a corresponding movement of the manipulator in a first Movement direction that he is the manipulator in the first direction has moved sufficiently to the assigned to this stored movement To enter command. In the development of the second embodiment The operator can then the manipulator according to the stored Move sequence in the second direction to the stored with this Sequence assigned command.

Especially in yielding manipulators, the movement in the first and second Direction to be a movement of the manipulator in its so-called null space, ie the amount of all positions or poses of the manipulator, which realize as identically defined Endeffektorstellungen. If the manipulator is redundant, ie has more degrees of freedom, for example more joints, than required for realizing a defined end effector position, a yielding manipulator can be moved into its members by an operator, ie transferred to different positions in null space, without the end effector being defined Changed position in the Cartesian area. 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 is a six-axis industrial robot re End effector position, in which the orientation of its end effector around the sixth joint axis due to a symmetrical tool is not specified, redundant. Here could be about one Rotation of its end effector about the sixth hinge axis as the first Direction can be chosen, allowing a rotation of the end effector detected by a certain angle as movement in the first direction and compared with stored movements, such as rotation angles is to enter a command.

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

In a preferred embodiment of the present invention a stored force, movement or sequence comprises the size the forces or movements, d. H. their amount and / or Direction, its timing, especially its temporal change and / or the time interval between the forces or Movements. For example, a stored movement can Speed, i. e. the change of the position of the manipulator over time, acceleration, i. e. the change of speed of the manipulator over time and / or higher Include derivative by time.

hereby increases the number of commands through the sequence can be coded clearly. In addition is it by considering the size, the time course or the time interval advantageous possible, forces or movements according to the invention for Entering a command applied or executed, to be distinguished from such forces or movements that for other purposes, for example to bring a Robot into a target position as part of direct programming, exercised or executed on this become.

For example can by repeated short or rapid back and forth on the End effector of a manipulator, i. e. a high speed or Acceleration be switched to an input mode in which additional forces or movements exclusively be interpreted as a command input. By another short or rapid pulling of the end effector, i. e. again high Speeds or accelerations can return to normal Mode, in which the end effector of the Manipulator can be placed manually in nominal positions.

The first and second force or movement direction must be not necessarily different from each other. For example, through Turning the end effector by 90 ° in one direction of rotation, followed by a short break and a subsequent one Twisting the end effector by another 90 ° in the same Direction of rotation, also a command can be entered.

advantageously, are the stored forces assigned to the commands, Movements or sequences are chosen so that they are at the normal operation of the manipulator, for example at direct programming of a robot by manual method its end effector in general does not occur. This can be, for example by repeatedly exerting a force or movements of the Manipulator in the same or in opposite directions Directions take place.

The Force or movement directions can be measured in an inertial or manipulator-fixed coordinate system. So can For example, a force acting in a spatial direction on an end effector a manipulator is exercised, or a movement of the End effector by the operator in this spatial direction always as Force or movement are detected in the first direction, regardless from the respective position of the manipulator and the location of his End effector. Similarly, a force or movement direction also be defined relative to the manipulator, so for example a pulling on the end effector in the direction of its axis of rotation independently from the position of the manipulator, i. e. independent of the orientation of the axis of rotation of the end effector in space always as Force or movement in the first direction is detected.

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 the storage and comparison of forces or movements in a first direction commands can be very simple and be entered intuitively. For example, pressing a Probe of a coordinate measuring machine the beginning or end of a Be assigned to measurement record. This is a first direction not necessarily Euclidean linear. So, for example a first direction also a circular path with a predetermined orientation be in space and / or given radius. The operator moves a limb a robot on such a circular path around a certain arc length, For example, π or 2π, this may be a command, For example, be assigned to the selection of a rule mode '.

By the storage and comparison of sequences of forces or movements in a first and a second direction advantageously a larger command dictionary illustrated and in particular sequences are assigned commands in the normal Operation of the manipulator not or rarely occur. Such sequences may additionally or in place of forces or movements in a first direction are assigned to commands, (especially in case of storage and comparison exclusively of forces or movements in a first direction) intuitive and quickly learnable command dictionary available (especially when storing and comparing exclusively by Force or movement sequences in a first and second direction) the danger of unwanted commands through the accidental To reduce movement or force in a first direction, or (especially when storing and comparing both Forces or movements in a first direction as well of force or movement sequences in a first and second direction) a very large command dictionary available put.

The The present invention is not based on sequences of two consecutively on the manipulator forces or with limited to this executed movements. Especially to encode an even more extensive command lexicon can be done accordingly be stored more complex sequences, so that to enter a Command from such a command dictionary three or more forces one after the other in a predetermined direction on the manipulator exercised or perform three predetermined movements with this successively Need to become.

Around Forces or movements that are required to enter a command the control of the manipulator applied to this or to be executed with this, from the beginning by others Forces, for example, random and unintentional be exercised on this or the mere moving Serve a yielding manipulator, or of movements that for example, the transfer to a desired Working position of the manipulator serve to distinguish is in a preferred embodiment of the present invention a guide handle provided with the forces on the manipulator can be exercised or with in which the manipulator can be moved, and an input device for inputting a signal with which between a normal mode and a command input mode is switched. Preferred is a such guide handle fixed or detachable with the manipulator connected, for example, welded to its end effector, screwed or plugged.

in the Command input mode in which, for example, by single, multiple or continuously operating the input device switched every force applied to the manipulator every movement performed with the manipulator as part a sequence that serves to enter a command. On the other hand become forces acting on the manipulator in normal mode or with these executed movements not as for command input considered serving. This allows it to be on the manipulator acting forces or executed with the manipulator Movements only during command input mode to detect what prevents during normal mode, in which, for example a robot is manually guided to a target position, unintentionally a command through a force or sequence of motion is entered.

equally can affect the forces exerted on the manipulator or permanently recorded with this executed movements so that a sequence that, for example, during a direct programming is performed by the operator, and which matches a stored sequence, regardless of the operation of an input device or switching to a command input mode as a sequence to Command input detected and the associated command to the controller of the manipulator is output.

The security of the command input can be further increased by a two-step process 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 error inputs, for example due to a confusion of the associated sequences.

A such feedback is particularly useful, to enter more complex commands gradually and successively. Often for example, is supposed to be a particular command of a robot, such as "touch up ", the position of the robot can be stored in he should execute this command. This can be done in one preferred embodiment of the present invention first the command according to the invention by a force, movement or sequence can be entered. Subsequently, the manipulator from the operator to the one provided to execute this command Position moves and these are stored, with the command input and / or reaching the stored position by entering a signal by the operator, such as pressing or releasing a switch is entered. This can be done by entering the command and / or Storing the assigned position of the manipulator a feedback, about a visual display or audible message will be issued.

The forces exerted by an operator to enter a command or executed movements are generally not correct exactly with stored sequences, in particular with respect their sizes, time courses or temporal Intervals, match. Advantageously the stored forces, movements or sequences therefore specified tolerance fields. That is, the operator a force applied to the manipulator or with the manipulator executed a movement whose direction, size, time course or distance to a previously applied force or movement is different from the direction, size, the time course or the time interval of a stored Force, movement or sequence is different, this difference however, within a predetermined maximum range the comparison of the detected and stored force or movement a match.

Especially advantageous for this are the stored sequences in simple Primitive, for example force or movement up / down, left / right, front / rear or the like, split, so that a force or Movement, which is directed essentially forward, assigned to the primitive "front" becomes. By the succession of such primitives, for example "top" -> "right", can then also more complex commands or a corresponding Command grammar are reliably entered.

equally However, other pattern recognition methods can also be used be based on neural networks, for example Method, fuzzy method or other in particular from image processing known pattern recognition method.

Further Objects, features and advantages of the present invention result 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 he can do that 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.

These Movement becomes through resolver in the four movement axes of the robot (not shown) detected. As such a sequence more rapidly orthogonal Movements usually in direct programming a robot, d. H. a manual movement of its end effector in desired nominal positions, usually does not occur is this sequence of movements "top" -> "front" of Assigned 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"->"smallcircle" 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 up 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.

Of the Sequence Fyi → Fzi of a first force Fy in y-direction, followed by a second force Fz in the z direction is also the Assigned command Bi = "touch up". Thus, can by applying forces to the manipulator the operator will be given a command even if the rigid one Do not manipulate yourself under these forces or not noticeably moved.

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

robot firm coordinate system

O

"(to) above"

V

"(to) front "

L

"(to) Left"

H

"(to) rear "

R

"(to) right"

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - EP 0850730 B1 [0004, 0007]

Claims (22)

Method for entering commands into a controller a manipulator, in particular a robot, with the steps: (A1) Detecting a first force (Fy) on the manipulator in one first direction (y) acts; (b1) comparing the detected first Force with stored forces (Fyi), each with a command (Bi) is assigned; (c1) output of this stored Force associated command 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 one Force (Fz) acting on the manipulator in a second direction (z) works after the first force has worked; (b2) in addition or alternatively to step (b1): comparing the sequence (Fy -> Fz) of the detected first and second force with stored sequences (Fyi → Fzi), which each command (Bi) is assigned; (c2) additionally or alternatively to step (c1): output of the stored one Sequence associated command to the controller of the manipulator, if the sequence of the detected first and second force with a stored sequence matches. Method according to one of the preceding claims, characterized in that the forces acting on the manipulator continuously with the stored forces and / or sequences be compared. Method according to one of the preceding claims 1 to 3, characterized in that acting on the manipulator Forces only in a command input mode with the saved ones Forces and / or sequences are compared. Method according to claim 5, characterized in that that the command input mode by operation of an input device is activated. Method for entering commands into a controller of a Manipulator, in particular a robot, with the steps: (A1) Detecting a first movement (Δy) of the manipulator in a first direction (y); (b1) comparing the detected first Movement with stored movements (Δyi), each one Command (Bi) is assigned; (c1) output of this stored Movement associated command 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) Capture a second movement (Δz) of the manipulator in a second Direction (z) after the first movement is executed; (B2) additionally or alternatively to step (b1): compare the sequence (Δy → Δz) of the detected first and second movement with stored sequences (Δyi → Δzi), each with a command (Bi) is assigned; (c2) additionally or alternatively to step (c1): output of the stored one Sequence associated command to the controller of the manipulator, if the sequence of the detected first and second movement with matches a stored sequence. Method according to one of the preceding claims 7 to 9, characterized in that the movements of the manipulator continuously with the stored movements and / or sequences be compared. Method according to one of the preceding claims 7 to 9, characterized in that the movements of the manipulator only in a command input mode with the stored motions and / or sequences are compared. Method according to claim 11, characterized in that that the command input mode by operation of an input device is activated. Method according to one of the preceding claims, characterized in that the first and / or second direction inertial or manipulator fixed is specified. Method according to one of the preceding claims, characterized by the steps of: (d) outputting to the controller of the manipulator command to be issued to an operator before the command is issued 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 entering commands into a controller a manipulator, in particular a robot, according to a Method according to one of the preceding claims, comprising: - one first force detection for detecting a first force (Fy), the acting on the manipulator in a first direction (y); - one Memory for storing forces (Fyi) and this Forces associated with commands (Bi); - one Comparison device for comparing the detected first force (Fy) with forces stored in the memory; - one Output device for outputting the stored force associated command to the controller with which the detected first Force matches. Device according to claim 15, characterized in that that the force detection force sensors for detecting forces which is attached to an end effector of the manipulator, one with the Manipulator-connected guide handle and / or a motor attack the manipulator. Device according to one of claims 15 to 16, marked by: - a second force assessment for detecting a second force (Fz) acting on the manipulator in a second direction (z) acts; - additionally or alternatively to a memory for storing forces and commands associated with these forces: a memory for storing sequences of a first and a second force (Fyi → Fzi) and instructions associated with these sequences (Bi); - additionally or alternatively to a comparison device for comparing the detected first force with stored forces in the memory: a comparator for comparing the sequence of detected first and second force (Fy → Fz) in the memory stored sequences; - additional or alternatively to an output device for outputting the stored Force associated command to the controller: an output device to issue the instruction associated with the stored sequence to the controller with which the sequence of detected first and second forces coincide. Device for entering commands into a controller a manipulator, in particular a robot, according to a Method according to one of the preceding claims, comprising: - one first motion detection to detect a first movement (Δy) the manipulator in a first direction (y); - one Memory for storing movements (Δyi) and this Movements associated commands (Bi); - A comparison device for comparing the detected first movement (Δy) with movements stored in the memory; - one Output device for outputting the movement stored associated command to the controller with which the detected first Movement matches. Device according to claim 18, characterized in that that the motion detection motion sensors for detecting Movements (.DELTA.y, Az), which is a member of the manipulator, in particular an end effector, connected to the manipulator Guide handle and / or a motor of the manipulator performs. Device according to one of claims 18 until 19, marked by: - a second Motion detection for detecting a second movement (Az) of the Manipulator in a second direction (z); - additionally or alternatively to a memory for storing movements and commands associated with these movements: a memory for storage of sequences of a first and a second movement (Δyi → Δzi) and instructions associated with these sequences (Bi); - additionally or alternatively to a comparison device for comparing the detected first movement with stored in the memory movements: a comparator for comparing the sequence of detected first and second movement (Δy → Δz) with sequences stored in the memory; - additionally or alternatively to an output device for outputting the stored motion associated command to the controller: a Output device for outputting the sequence stored assigned command to the controller, with which the sequence of detected matches first and second movement. Device according to one of the preceding claims 15 to 20, characterized by a connected to the manipulator Guide handle, which is an input device for input a signal and / or to confirm a command. Device according to one of the preceding claims 15 to 21, characterized in that the manipulator is manually movable.