EP2359205A1

EP2359205A1 - Method and device for inputting commands into a control of a manipulator

Info

Publication number: EP2359205A1
Application number: EP09748047A
Authority: EP
Inventors: Günter Schreiber; Uwe Zimmermann
Original assignee: KUKA Laboratories GmbH
Current assignee: KUKA Deutschland GmbH
Priority date: 2008-12-17
Filing date: 2009-11-03
Publication date: 2011-08-24
Also published as: US20120185089A1; CN102203685A; CN102203685B; US9063539B2; US8774969B2; KR20110114526A; KR101660064B1; WO2010069429A1; CN102239454B; DE502009000624D1; WO2010069430A1; EP2212753A1; US20110313573A1; ATE508401T1; CN102239454A; EP2212753B1

Abstract

In a method and a device for entering control commands into a controller of a manipulator, such as a robot, a first force or movement or sequence of forces or movements is detected, and the detected force, movement or sequence is electronically compared with stored forces, movements or sequences, respectively. Each of the stored forces or movements or sequences has a control command associated therewith. Upon the comparison indicating a coincidence between the detected force or movement or sequence with one of the stored forces or movements or sequences, the control command associated with that one of the stored forces, stored movements or stored sequences is automatically supplied as an input to the controller for operating the manipulator.

Description

description

Method and device for entering commands into a controller of a manipulator

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, in a robot control commands for approaching certain positions, for departing predetermined

Trajectories, for the operation of tools, such as opening or closing a gripper or activating a welding gun, a drill or milling head or the like entered. Similarly, in a machine tool commands to start a feed, the

Change in a rotational speed of a workpiece or a tool or the like input, in a measuring machine commands to start or stop a 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 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 EP 0 850 730 Bl known to move the robot manually in the desired starting position and then along the trajectory to be traversed 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. This not only requires additional equipment and increased

Transmission overhead between the input device and the controller, but obstructs the operator in the direct programming, since he has to operate the keyboard with one hand to move the keyboard or release.

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 so far, for example from EP 0 850 730 Bl, merely known to move a robot by pulling its end effector in the direction of the force acting on the end effector, the present invention enables the input of further, in particular no movement and more complex, commands according to the invention, a first force, acting on the manipulator, a sequence of a first force and a second force successively acting on the manipulator, a first movement of the manipulator, or a sequence of a first and a second movement of the manipulator with stored forces, movements or sequences is compared , each of which is assigned a command. 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 that an operator exerts on the manipulator in predetermined directions, for example, through

Force sensors, detected. For a more concise presentation, the same pairs of forces are used in opposite directions, i. 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 engines 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 on the

Press 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, such as releasing a brake of a motor of the robot or the change of the parameters

Assigned position control, according to the invention, the force exerted by the operator in the stored order on the end effector forces 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 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, associated with leaving a position just approached, is advantageous.

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, this is a

Movement of the manipulator in a first direction of movement and in a development of the second embodiment also detects a subsequent movement of the manipulator in a second direction of movement and compared with stored movements in the first direction of movement or sequences of movements in the first and second directions of movement, each having a command assigned. Does the detected motion correspond to a stored motion sequence, i. E. if the manipulator is moved by the operator in a manner associated with a particular command, that command is issued to the controller of the manipulator.

For this purpose, the manipulator is preferably designed yielding, ie by the operator manually to the command input forces exerted on him to a noticeable extent movable. This can, for example, as described above, by a pure proportional position control with correspondingly low proportionality constant will be realized. 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 possibility, a manipulator compliant, ie by the forces exerted on the command forces to make recognizable movable, is to detect the forces exerted on him and these with a corresponding movement in the direction of these forces and, preferably, with a to respond to the magnitude of the forces corresponding movement speed.

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 flexible manipulators, the movement in the first or second direction may be a movement of the manipulator in its so-called null space, ie the set of all positions or poses of the manipulator, which realize identically defined end effector positions. If the manipulator is redundant, ie has more degrees of freedom, for example more joints, than required for the realization of a defined end-effector position, a resilient manipulator can be moved by an operator into his

Moves links, 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 size of the forces or movements, ie 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 include the speed, ie, the change in position of the manipulator over time, the acceleration, ie, 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 swiping at the end effector of a manipulator, i. a high speed or acceleration in one

Switched input mode in which further forces or movements are interpreted exclusively as a command input. By again briefly pulling the end-effector, i. E. Again, high speeds or accelerations can be switched back into a normal mode, in which the end effector of the manipulator can be manually brought to nominal positions.

The first and second direction of force or movement need not necessarily be different from each other. For example, by turning the end effector 90 ° in one direction, followed by a brief pause and then rotating the end effector one more time 90 ° in the same direction of rotation, also enter a command.

Advantageously, the stored forces, movements or sequences assigned to the commands are selected so that they are used in the normal operation of the

Manipulator, for example, in the direct programming of a robot by manually moving its end-effector generally not occur. 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 by a movement of the

Manipulator defined in a joint or by coordinated, for example, parallel, opposing or complementary movements of the manipulator in multiple joints are, for example, as a rotation q _{2 of} a manipulator member about a pivot axis or as rotations q ₃ = 2q ₂ in two successive, parallel pivot 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. This is a first

Direction 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 may be assigned commands in addition to or instead of forces or movements in a first direction in order to (in particular in

Storage and comparison only of forces or movements in a first direction) to provide an intuitive and quickly learnable command lexicon, (especially when storing and comparing only force or movement sequences in a first and second direction) the risk of unwanted command inputs to reduce the random movement or force application in a first direction, or to (in particular at Storing and comparing both forces and movements in a first direction as well as 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, in which, for example, can be switched by one, multiple or continuous operation of the input device, each on the manipulator applied force or any movements performed with the manipulator as part of a sequence that is used to enter 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 be assigned to the stored force, movement or sequence Command issued 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 will make the danger more accidental

Command miss inputs, such as due to a confusion of the associated sequences, reduced.

Such feedback is also useful, in particular, to enter more complex commands stepwise and successively. Frequently, for example, the position of the robot in which it is to execute this command is to be stored for a specific command of a robot, such as "touch up." For this purpose, in a preferred embodiment of the present invention, the command may first be executed by a force, movement or Subsequently, the manipulator is moved by the operator to the position provided for executing this command and stored, wherein the command input and / or the reaching of the stored position by inputting a signal by the operator, such as pressing or releasing a switch entered For this purpose, after input of the command and / or storage of the assigned position of the manipulator, a 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 predetermined

Tolerance fields on. That is, a force is exerted by the operator on the manipulator or carried out with the manipulator, a movement whose direction, size, temporal Course or distance to a previously applied force or executed movement is different from the direction, size, the time course or the time interval of a stored force, movement or sequence, but this difference is within a predetermined maximum range, the results Comparison of the detected and stored force or movement a match.

For this purpose, the stored sequences are simple in simple primitives, for example, force or movement up / down, left / right, front / rear or the like, split, so that a force or movement, which is directed substantially forward, the Primitive "front" is assigned. Due to the succession of such primitives, for example, "top" -> "right", then more complex commands or a corresponding command grammar can be reliably entered.

Likewise, however, others can

Pattern recognition method can be used, for example, neural network based learning method, fuzzy method or other known in particular from image processing pattern recognition method.

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

Fig. 1 shows a four-axis manipulator with a

Command input device according to an embodiment of the present invention when inputting a command; and

2 is a flowchart of a method according to an embodiment of the present invention. In Fig. 1, a four-axis robot 1 is shown schematically, the hull 1.1 can rotate about the y-axis of a robot-fixed coordinate system. An upper arm 1.2 connected to the fuselage rotates with respect to this axis about an axis parallel to an x-axis of the robot-fixed coordinate system. A forearm 1.3 and an end effector 1.4 are attached to this parallel axes relative to the upper arm 1.2 rotatably mounted on this or the forearm. At the end effector 1.4, a guide handle 2 is infected. In the fuselage 1.1 is arranged a controller of the manipulator in which a command input device according to an embodiment of the present invention is implemented.

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

In the exemplary embodiment, the command "touch up" is to be input into a controller (not shown) of the robot 1. For this purpose, the operator by means of the guide handle 2, the end effector 1.4 moves in the manner indicated by dashed lines in Fig. 1, first rapidly upward, i. in the y-direction of the robot-fixed coordinate system, and then forward, i. 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). There Such a sequence of rapid orthogonal movements usually in the direct programming of a robot, ie a manual movement of its end effector in desired target positions, usually does not occur, this movement sequence "top"->"front" the command "touch up" assigned.

According to the invention, during a direct programming of the robot in a step a), 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 (FIG. 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 motion sequences do not match any stored sequence of movements (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 2 in the form of a button (not shown) in a step e). 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 leads the

Operator by means of the guide handle 2, the end effector 1.4 in the manner indicated by dashed lines in Fig. 1 manner first upwards and then successively forward, left, behind and to the right to enter this sequence of movements. Since such a trajectory of the end effector 1.4 can also be provided for a machining process, the operator actuates the input device on the guide handle 2 by pressing the button (not shown) at the beginning of the above-described sequence of movements, ie before he moves the end effector 1.4 upwards and holds 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, which incorporates this command in the program created by direct programming sequence of the robot.

In a further modification of the embodiment described above, the force regulators of the robot 1 are rigid, so that the operator can not move the end effector 1.4 manually or not recognizably. For this purpose, the four movement axes of the robot 1 are position-controlled by PID controllers with high gains.

If the operator exerts a force Fy in the y direction on the guide handle 2, the end effector 1.4 does not move.

However, force sensors (not shown) of the force-controlled motors in the four axes of motion register a corresponding force acting on the end effector 1.4. From this, using a mathematical replacement model after elimination of the weight forces of the robot that of the

Operators are detected in the y-direction on the end effector 1.4 applied first force. 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 does not move, analogously, a second force Fz is detected by the force sensors in the motors acting 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 ql, q2, ... q4 joint angle x, y, z robot-fixed coordinate system

O "(to) above"

V "(to) front"

L "(to) left"

H "(to) behind"

R "(to) right"

Claims

claims

A method for command input to a controller of a manipulator, in particular a robot, comprising the steps of: (al) detecting a first force (Fy) applied to the

Manipulator acts in a first direction (y); (bl) 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.

2. The method according to claim 1, characterized in that the size (| F |) of detected forces, the time course

(F (t)) of detected forces, the temporal change (d ^k F / dt ^k ) detected forces and / or the time interval (T) between the action of detected forces is detected, and that the stored forces the size, the time course that involve temporal change of forces and / or the time interval between the actions of forces.

3. The method according to any one of the preceding claims, characterized by the steps: (a2) detecting a second force (Fz) on the

Manipulator in a second direction (z) acts after the first force has acted; (b2) additionally or alternatively to step (bl):

Comparing the sequence (Fy -> Fz) of the detected first and second forces with stored sequences (Fyi - »Fzi), to each of which a command (Bi) is assigned; (c2) additionally or alternatively to step (cl): 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.

4. The method according to any one of the preceding claims, characterized in that the forces acting on the manipulator are continuously compared with the stored forces and / or sequences.

5. The method according to any 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.

6. The method according to claim 5, characterized in that the command input mode is activated by actuation of an input device.

7. A method for command input to a controller of a manipulator, in particular a robot, with the

steps:

(al) detecting a first movement (Δy) of the manipulator in a first direction (y);

(bl) Compare the detected first motion with stored motions (Δyi) each command

(Bi) is assigned; (cl) output the command associated with this stored motion to the controller of the

Manipulator, if the detected first movement coincides with a stored movement.

8. The 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.

9. The method according to any 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 (bl):

Comparing the sequence (Δy -> Δz) of the detected first and second motion with stored sequences (Δyi -> Δzi), each associated with a command (Bi); (c2) additionally or alternatively to step (cl): 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.

10. The method according to any 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.

11. The method according to any 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 movements and / or sequences are compared.

12. The method according to claim 11, characterized in that the command input mode is activated by operating an input device.

13. The method according to any one of the preceding claims, characterized in that the first and / or second direction is specified inertial or manipulator fixed.

14. The method according to any 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.

15. Device for command input in a control 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) acting on the manipulator in a first

Direction (y) acts; - 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 Control with which the detected first force coincides.

16. The apparatus according to claim 15, characterized in that the force detection comprises force sensors for detecting forces that at an end effector of

Manipulator attack a connected to the manipulator guide handle and / or a motor of the manipulator.

17. Device according to one of claims 15 to 16, characterized by: a second force detection for detecting a second force (Fz), which acts on the manipulator in a second direction (z); additionally or alternatively 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: a comparison device for comparing the

Sequence of the detected first and second forces (Fy - »Fz) with sequences stored in the memory; additionally or alternatively to an output device for outputting the command associated with the stored force to the controller: an output device for outputting the command associated with the one stored to the controller, with which the sequence of the detected first and second forces coincides.

18. A device for command input to 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 (.DELTA.y) of the manipulator in a first direction (y); a memory for storing movements (Δyi) and commands associated with these movements (Bi); comparison means for comparing the detected first movement (Δy) with movements stored in the memory; output means for outputting the instruction associated with the stored movement to the controller with which the detected first movement coincides.

19. The device according to claim 18, characterized in that the movement detection movement sensors for detecting movements (.DELTA.y, .DELTA.z), which executes a member of the manipulator, in particular an end effector, connected to the manipulator guide handle and / or a motor of the manipulator.

20. Device according to one of claims 18 to 19, characterized by: a second movement detection for detecting a second movement (.DELTA.z) 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 storing sequences of a first and a second movement

(Δyi -> Δzi) and commands associated with these sequences

(Bi); additionally or alternatively to one

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; additionally or alternatively to an output device for outputting the command associated with the stored movement to the controller: an output device for outputting the command associated with the stored sequence to the controller, with which the sequence of the detected first and second movements coincides.

21. Device according to one of the preceding claims 15 to 20, characterized by a guide handle connected to the manipulator having an input device for inputting a signal and / or for confirming a command.

22. Device according to one of the preceding claims 15 to 21, characterized in that the manipulator is manually movable.