JPH0947988A - Manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To limit the operation range of an indication operation part within a preset arbitrary range in the physically movable range of an indication operation part. SOLUTION: A first rotation shaft 6 (a second rotary shaft 10) is rotated through operation of an indication operation part 3. Rotation thereof is detected by a first rotary encoder 4 (a secondary rotary encoder 8). When a detecting value coincides with a predetermined value, a first electromagnetic brake 5 (a second electromagnetic brake 9) locks a first rotary shaft 6 (a second rotary shaft 10).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator having two or more degrees of freedom and converting a displacement amount of an operating portion into length or angle information and outputting it as an electric signal.

[0002]

2. Description of the Related Art This type of manipulator is, for example, a CR.
It is used when moving a predetermined image displayed on the image display means such as T on the display means, and displays the predetermined image on the display means in response to the operation of the instruction operation unit by the operator. It can generate and output information to move.

Joysticks, trackballs and the like are known as manipulators of this type.

FIG. 11 shows the structure of a joystick, and the joystick in this example has two degrees of freedom. That is, the operator operates the instruction operation unit (stick) 5
When 3 is operated, the axes for angle detection are arranged so as to be orthogonal to each other, and the two rotary encoders 51 and 52 coupled to the instruction operation unit 53 detect the angle in that state and output it as angle information. .

FIG. 12 shows the structure of a trackball, and the trackball of this example also has two degrees of freedom.
That is, when the operator operates the instruction operation unit (ball) 54, the two angle encoders 55 and 56 are arranged such that axes for angle detection are orthogonal to each other, and the detection unit contacts the surface of the instruction operation unit 54. The angle in that state is detected and output as angle information.

[0006]

However, in the above-mentioned joystick and trackball,
For example, it is difficult to deal with the case where the device on the side of inputting the angle information from these prohibits the input of the information outside the predetermined angle or the angle range. In other words, the joystick and trackball are designed so that the pointing operation section can move freely within the physical range of movement of each degree of freedom, making it difficult to provide angle information such as a scale (joystick) or extremely difficult to provide. Since it has a (trackball) structure, it is difficult for the operator to operate the instruction operation unit so as not to reach the prohibited angle and the area even if the operator pays a great deal of attention.

Further, for example, when a three-dimensional object is displayed on the display means and the three-dimensional object is to be moved on the display means in accordance with the operation of the manipulator, the joystick allows the operation of the instruction operation section to be freely performed. Since the instruction operation unit moves only within a certain angle range with respect to the joint portion, it is difficult for the operator to feel as if holding the three-dimensional object with his / her hand. Since the instruction operation unit is operated as if rolling, it is not possible to obtain the feeling of grasping the three-dimensional object.

Therefore, the present invention has been made to solve the above problems, and limits the operation range of the instruction operating unit to a desired operable range within the physically movable range of the instruction operating unit. The purpose is to provide a manipulator capable of performing.

Another object of the present invention is to provide a manipulator capable of applying a desired braking force to the instruction operating portion within the operable range.

Still another object of the present invention is to provide a manipulator which allows an operator to obtain the sensation that an operator holds a three-dimensional object displayed on the display means.

[0011]

In order to achieve the above object, the invention according to claim 1 is characterized in that an instruction operating portion attached to a fixed portion and displaced by an external force has at least two degrees of freedom, and each of the degrees of freedom is different. In the manipulator provided with at least two or more conversion units that output the displacement amount on the scale corresponding to the above as the displacement amount of the length or the angle in the form of an electric signal, an arbitrary range within the physical movable range of the pointing operation unit. Comparing means for comparing a preset range within the position with the position of the instruction operating part calculated from the electric signal output as the displacement amount, and the operating range of the instruction operating part according to the output of the comparing means. A plurality of electromagnetic brakes for limiting the electromagnetic force within a set range, and an external force detecting means for detecting a direction of an external force applied to the instruction operating portion when the electromagnetic brakes are locked, The electromagnetic brake is electrically locked on the boundary of the setting range, and the electromagnetic force is applied when the direction of the external force applied to the instruction operating unit is directed to the inside of the setting range based on the detection result of the external force detecting means. And an electromagnetic brake control unit for releasing the lock of the brake.

[0012] The invention according to claim 2 is based on claim 1.
In, the instruction operation unit is directly connected to the conversion unit,
The instruction operating unit is connected to the electromagnetic brake so as to have a backlash equal to or higher than the resolution of the converting unit, so that the converting unit also serves as the external force detecting means.

Further, in the invention according to claim 3, in claim 2, in the electromagnetic brake control part, the braking force is increased as the position of the instruction operating part approaches the boundary within a certain range near the boundary of the set range. And a control means for electrically locking the electromagnetic brake on the boundary of the set range.

Further, in the invention according to claim 4, in claim 2 or 3, the electromagnetic brake control unit includes a control means for generating at least a constant braking force in the electromagnetic brake within the entire range of the set range. It is characterized by including.

Further, in the invention according to claim 5, in claim 2 or 3, the electromagnetic brake control unit determines from an electric signal output as a displacement amount of at least the length or the angle within the entire range of the set range. It is characterized by including control means for causing the electromagnetic brake to generate a braking force inversely proportional to the magnitude of the calculated acceleration of the instruction operating unit.

Further, the invention according to claim 6 is the invention according to claim 4 or 5, characterized in that the pointing operation portion has a spherical shell shape of 10 cm to 30 cm which is rotationally displaced about the center point of the sphere. .

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a mechanical structure of a manipulator having two degrees of freedom according to the present invention. As shown in FIG. 1, a support 2 is vertically fixed on a fixed base 1, and the support 2
A movable part including a rotary encoder, an electromagnetic brake, and the like is provided on the upper part, and a spherical shell-shaped instruction operating part 3 having an open lower part is provided so as to cover the movable part. That is, the first rotary encoder 4 and the first electromagnetic brake 5 are fixed on the column 2 with their central axes aligned. The central axis is horizontal, and the first rotary shaft 6 is arranged on the central axis.

The first rotary shaft 6 is divided into a part connected to the first rotary encoder 4 and a part connected to the first electromagnetic brake 5, and both parts are restricted to rotate about their axes with respect to each other. It is connected to allow movement. A support member 7 is fixed to a portion of the first rotary shaft 6 on the first rotary encoder 4 side, and the second rotary encoder 8 and the second electromagnetic brake 9 have their central axes aligned with each other on the support member 7. It is fixed. This central axis is perpendicular to the first rotary shaft 6, and the second rotary shaft 10 is arranged on this central shaft. The axis of the first rotating shaft 6 and the axis of the second rotating shaft 10 are arranged so as to pass through the center of the sphere of the instruction operating portion 3.

The second rotary shaft 10 is also composed of two parts having the same structure as the first rotary shaft 6, and the inner upper end of the instruction operating part 3 is fixed to the part on the second rotary encoder 8 side. . The instruction operation part 3 has a diameter of 10 to 30 cm.

According to such a configuration, the operator grasps the instruction operating unit 3 with both hands to move the instruction operating unit 3
It can be rotated 360 ° in the horizontal plane (at this time, the second rotating shaft 10 rotates with respect to the second rotary encoder 8 and the second electromagnetic brake 9), and the instruction operating unit 3
Can be rotated about the first rotating shaft 6 until the opening at the bottom of the first contacting the support column 2 (at this time, the first rotating shaft 6 rotates with respect to the first rotary encoder 4 and the electromagnetic brake 5). .

The first rotary encoder 4 (second rotary encoder 8) outputs a pulse in response to the rotation and rotation direction of the first rotary shaft 6 (second rotary shaft 10) at every predetermined rotation angle.

The first electromagnetic brake 5 (second electromagnetic brake 9) brakes or stops (locks) the rotation of the first rotary shaft 6 (second rotary shaft 10) by the electromagnetic force in response to the supplied control voltage. To do.

The connecting portion of the two parts of the first rotary shaft 6 (the same applies to the second rotary shaft 10) has a structure as shown in FIG. That is, the base of the pressure-detected piece 11 is fixed to the end of the portion of the first rotary shaft 6 on the side of the first rotary encoder 4 (hereinafter referred to as the shaft 6A), and the tip of the detected piece 11 has the first portion. It extends to a portion of the first rotary shaft 6 on the first electromagnetic brake 5 side (hereinafter, referred to as a shaft 6B). Axis 6
A pair of pressure sensors 12 and 13 are fixed to B so as to sandwich the detected piece 11 from both sides. As the pressure sensor, a strain gauge or a piezo element can be used.

With such a structure, the shaft 6A has the (first
When a predetermined pressure is applied to one of the pressure sensors 12 by rotating in the direction of arrow 14 in FIG. 2 with respect to the shaft 6B (fixed by the electromagnetic brake 5), the sensor 12 detects the pressure and the arrow When the shaft 6A rotates in the direction opposite to 14 and a predetermined pressure is applied to the other pressure sensor 13, the sensor 13 detects the pressure. The predetermined pressure is a value at which the pressure sensor does not detect the pressure until the electromagnetic brake 5 (9) is braked to a predetermined level or more.

The detection signals from the pair of pressure sensors 12 and 13 are pressure sensors 1 which are wound around the shaft 6B in an insulated state.
Four conductive rings 15-18 for guiding the signals from 2, 13
And four conductive brushes 19-22 fixed to the casing of the first electromagnetic brake 5 so as to contact these rings 15-18, and lead wires (not shown) connected to these brushes 19-22. Can be derived.

FIG. 3 shows the electrical construction of the manipulator according to the present invention. Reference numerals 4, 5, 8, 9, 1
2 and 13 correspond to those in FIGS. 1 and 2, and 23 and 2
Reference numeral 4 denotes a pair of pressure sensors provided on the second rotating shaft 10.

The first external force direction detector 25 is operated by the operator in the direction of the external force applied to the first rotary shaft 6 based on the pressure detection signals from the pair of pressure sensors 12 and 13. The instruction operating unit 3 detects a direction in which the instruction operating unit 3 is about to rotate about the first rotation shaft 6, and outputs a value according to the direction. Details of this value will be described later.

Similarly, the second external force direction detecting section 26 is based on the pressure detection signals from the pair of pressure sensors 23 and 24.
A value corresponding to the direction of the external force applied to the second rotating shaft 10, that is, the direction in which the instruction operating unit 3 operated by the operator tries to rotate around the first rotating shaft 10 and is detected. Is output.

First decoder 27 (second decoder 28)
Decodes the rotation angle of the first rotary shaft 6 (second rotary shaft 10) from the reference position based on the pulse from the first rotary encoder 4 (second rotary encoder 8).

The coordinate calculation unit 29 has two decoders 27,
Input the two angle information from 28, and perform the calculation to make the resolution of the coordinates formed by these correspond to (or match) the resolution of the coordinates required by the device that inputs the output from this manipulator, and calculate. Output the resulting coordinate information. Further, the coordinate calculation unit 29 inputs signals from the first and second external force direction detection units 25 and 26, which will be described later in detail.

The set value storage unit 30 responds to the operable range information (for both the first rotary shaft 6 and the second rotary shaft 10) of the instruction operating unit 3 set by an appropriate input means such as a keyboard. The value of the boundary between the operable range and the other range, that is, the prohibited range (which may include the case of a single angle instead of the range), that is, the boundary coordinate is stored.

The comparison calculation unit 31 compares the coordinate information from the coordinate calculation unit 29 with the boundary coordinate values in the set value storage unit 30, and calculates the coordinates for each of the first rotary shaft 6 and the second rotary shaft 10. The angle D between the coordinates from the unit 29 and the boundary coordinate value closest to the coordinates is calculated (the angle D is calculated for each of the first rotary shaft 6 and the second rotary shaft 10).

Reference numeral 32 denotes an electromagnetic brake control unit, which brakes the corresponding first electromagnetic brake 5 or second electromagnetic brake 9 (both of them may be simultaneously) in response to the input value.

The first control amount conversion table 33 converts each angle D from the comparison operation unit 31 into a braking amount of each electromagnetic brake by the conversion table and outputs the braking amount. The output is the electromagnetic brake control unit 32. Entered in. There are various contents of the conversion table. For example, when the angle D is 0, "1" is output, and at other times, "0" is output. In this case, the output is "1" or "0" to the electromagnetic brake control unit 32. Is input to control the movement of the rotary shaft connected to the corresponding electromagnetic brake so as to stop when the output is “1” and free (no braking) when the output is “0”.

Further, the conversion table may be as shown in FIGS. In FIG. 4, the braking amount gradually increases as the angle D approaches 0, and when D = 0, the braking amount that stops the movement of the rotary shaft connected to the corresponding electromagnetic brake is set. As a result, a person who operates the instruction operating unit 3 becomes heavier as the instruction operating unit 3 approaches the boundary of the operable range, that is, receives a resistance from the operating instruction unit 3 during operation. The operable range (limit) of 3 can be easily recognized.

In FIG. 5, the braking is free up to a position where the angle D is relatively close to 0, and when the angle D further approaches 0, the braking amount suddenly becomes constant, and as the angle D further approaches 0, the braking amount reaches a stop. To increase. As described above, the conversion table can be set freely.

The acceleration calculation unit 34 is based on the coordinate information from the coordinate calculation unit 29, and the first rotary shaft 6 and the second rotary shaft 1
The acceleration of each rotation of 0 is calculated and output. Multiplication unit 35
Outputs each acceleration from the acceleration calculation unit 34 by a value in the weight set value storage unit 36 that corresponds to the weight that the operator wants to recognize.

The second control amount conversion table 37 includes a multiplication unit 3
A conversion table is used to convert each of the multiplied values output from 5 into the braking amount of each electromagnetic brake,
This output is input to the electromagnetic brake control unit 32. Figure 6
Shows an example of this conversion table. According to this conversion table, if a is the acceleration from the acceleration calculation unit 34 and m is the weight set value in the weight set value storage unit 36, m × a
Is 0, the maximum braking amount (not a stop but a value that allows the operator to move by holding the instruction operating unit 3) is obtained, and the braking amount decreases as m × a increases. This allows the operator to set the weight set value storage unit 3 when starting to move the instruction operation unit 3.
Since the resistance corresponding to the weight corresponding to the weight set in 6 is received from the instruction operating unit 3, it is possible to further feel the unity of the operation with respect to the image on the display means controlled by the coordinate information from the manipulator. Like

The electromagnetic brake control unit 32 includes the first rotary shaft 6 and the second rotary shaft 6 output from the first control amount conversion table 33.
The braking amount for the rotating shaft 10 and the braking amount for the first rotating shaft 6 and the second rotating shaft 10 output from the second control amount conversion table 37 are input in parallel, and a larger braking amount of both inputs is input. In response to the bias setting values for the first rotating shaft 6 and the second rotating shaft 10 in the bias setting value storage unit 38 that are arbitrarily set, two electromagnetic brakes are braked. Braking each of 5 and 9. The output from the second control amount conversion table 35 does not have to be input to the electromagnetic brake control unit 32, and the value in the bias set value storage unit 38 is also the electromagnetic brake control unit 3.
2 does not need to be given (instead of this, the bias setting value is 0
May be).

The output values from the first external force direction detector 25 are as follows. If the first rotation shaft 6 rotates in the direction in which the detection angle of the first decoder increases and the rotation is stopped by the first electromagnetic brake 5, and one of the pressure sensors 12 detects pressure, The output value from the first external force direction detection unit 25 becomes a value that gives the coordinate calculation unit 29 information that the angle increases (at least by one unit), and the first rotation shaft 6 rotates in the direction in which the detection angle of the first decoder decreases. Assuming that the rotation is stopped by the first electromagnetic brake 5 and the other pressure sensor 13 detects the pressure, the output value from the first external force direction detection unit 25 performs coordinate calculation on the information that the angle decreases. The value is given to the unit 29. Second external force direction detector 2
The output value from 6 is also the same. Also, the coordinate calculation unit 29
Is the first and second rotary encoders 27 and 28.
When the coordinate information is calculated and output based on the pulse from, the angle values based on the information output from the first and second external force direction detection units 25 and 26 are added and output.

Therefore, for example, the operator operates the instruction operating section 3 to increase the rotation angle of the first rotating shaft 6 to reach the boundary coordinates, and the first rotating shaft 6 is stopped by the first electromagnetic brake 5. Then, when the operator further applies a force to the instruction operating unit 3 in the same direction, the one pressure sensor 12 detects the pressure. As a result, the coordinate calculation unit 29 increases the corresponding angle in the coordinate information (that is, it exceeds the boundary coordinate angle), but this causes the corresponding angle D from the comparison calculation unit 31 to be 0 or more. Therefore, the first rotary shaft 6 remains stopped by the first electromagnetic brake 5. Then, for example, when the operator applies a force to the instruction operating unit 3 in the opposite direction, the one pressure sensor 12
Becomes a state in which no pressure is detected (that is, the output value is 0), the corresponding angle in the coordinate information of the coordinate calculation unit 29 returns to the original value, and then (the first rotating shaft 5 is the first electromagnetic brake 5).
The other pressure sensor 1 (because it remains stopped by
3 detects the pressure, the output value is added to the corresponding angle in the coordinate information of the coordinate calculation unit 29, and the value of the angle is smaller than the boundary value. As a result, the comparison calculation unit 31
The angle D from becomes a positive value, and the first rotary shaft 6 is released from the stop by the first electromagnetic brake 5 and can rotate in the direction within the operable range.

FIG. 7 shows another example of the connecting portion between the shafts 6A and 6B of the first rotating shaft 6 (similarly to the second rotating shaft 10). In this example, instead of the pair of pressure sensors, a pair of stoppers 40 and 41 are fixed to the shaft 6B so as to be located on both sides of the detected piece 11 fixed to the shaft 6A, and further, in the rotation direction around the axis. Fix it so that backlash d occurs. The backlash d is equal to or higher than the resolution of the coordinate information output from the coordinate calculator 29. According to such a configuration, the angle D output from the comparison calculation unit 31 becomes 0, that is, the operator operates the instruction operation unit 3 to reach the boundary coordinates, and the first rotation axis 6 or When the second operating shaft 10 is stopped by the first electromagnetic brake 5 or the second electromagnetic brake 9 and the instruction operating unit 3 is moved in a direction opposite to the rotating direction of the stopped rotating shaft, that is, When moved toward the operable range, the rotary encoder side portion of the rotary shaft rotates by the amount of backlash d in the connecting portion of the rotary shaft, and as a result, the output of the decoder connected to the rotary encoder changes. And coordinate calculation unit 2
The coordinates of 9 also change, and the angle D output from the comparison calculation unit 31 changes from 0 to a plus (+) value. As a result, the stopped state of the corresponding electromagnetic brake is released, and the instruction operating unit 3 can be moved toward the operable range.

FIG. 8 shows still another example of the connecting portion between the shafts 6A and 6B of the first rotary shaft 6 (similarly to the second rotary shaft 10).
In this example, a pair of springs 42 and 43 are interposed between the detected piece 11 and a pair of stoppers 40 and 41.
The pair of springs 42 and 43 buffer the rotation of the first rotating shaft 6 when operating the instruction operating unit 3. Other operations are similar to those of FIG.

FIG. 9 shows a pair of rubbers 4 instead of a pair of springs.
An example in which 4, 45 are interposed is shown. The operation is similar to FIG.

FIG. 10 shows an example of the mechanical structure of a manipulator having three degrees of freedom according to the present invention. In this example, as shown in FIG.
In addition to the rotary shaft 6 and the second rotary shaft 10, another third rotary shaft 46
Is provided. That is, the third rotary encoder 47 and the third electromagnetic brake 48 are fixed on the column 2, the third rotary shaft 46 is arranged on the center axis thereof, and the first rotary encoder 4 and the first rotary encoder 46 are mounted on the third rotary shaft 46. The electromagnetic brake 5 is fixed, and the axes of the three rotary shafts 6, 10 and 46 are arranged so as to be orthogonal to each other and pass through the center of the sphere of the pointing operation surface 3.

It can be easily understood that the electrical structure in this example is the same as that of FIG. 3, and the description thereof will be omitted.

The present invention has the following other embodiments.

As the conversion unit that outputs the position of the instruction operation unit as an electric signal, there are an optical length measuring device, a variable resistor, and the like in addition to the rotary encoder.

In the external force detection, in addition to the pressure sensor, the movement of the fine-movement joint provided in the middle of the instruction operation unit may be detected by another detector such as a switch, an optical sensor, or a capacitance detector.

[0051]

As described above, according to the present invention, it is possible to provide a manipulator capable of limiting the operating range of the instruction operating section within a desired operable range within the physically movable range of the instruction operating section. You can

Further, according to the present invention, it is possible to provide a manipulator capable of applying a desired braking force to the instruction operating portion within the operable range. This improves the operational feeling for the device that supplies information from the manipulator.

Further, according to the present invention, it is possible to provide a manipulator which can be operated by an operator as if he / she holds an image on a display means for supplying information.

[Brief description of drawings]

FIG. 1 is a diagram showing a mechanical configuration of a manipulator having two degrees of freedom according to the present invention.

FIG. 2 is a diagram showing a connecting portion of a first rotating shaft.

FIG. 3 is a diagram showing an electrical configuration of the manipulator.

FIG. 4 is a diagram showing an example of a first control amount conversion table.

FIG. 5 is a diagram showing another example of a first control amount conversion table.

FIG. 6 is a diagram showing an example of a second control amount conversion table.

FIG. 7 is a diagram showing another example of the connecting portion of the first rotating shaft.

FIG. 8 is a view showing still another example of the connecting portion of the first rotating shaft.

FIG. 9 is a diagram showing still another example of the connecting portion of the first rotating shaft.

FIG. 10 is a diagram showing a mechanical configuration of a manipulator having three degrees of freedom according to the present invention.

FIG. 11 is an explanatory diagram of a conventional joystick.

FIG. 12 is an explanatory diagram of a conventional trackball.

[Explanation of symbols]

 3 instruction operation unit 4 first rotary encoder 5 first electromagnetic brake 6 first rotary shaft 8 second rotary encoder 9 second electromagnetic brake 10 second rotary shaft

 ─────────────────────────────────────────────────── ─── Continuation of the front page (71) Applicant 591053926 NK Engineering Service Foundation 1-10-3 Kinuta, Setagaya-ku, Tokyo (72) Inventor Yuichi Ninomiya 1-10-11 Kinuta, Setagaya-ku, Tokyo Japan Air Transport Association Broadcast Technology Laboratory (72) Inventor Kazumasa Enami 1-10-11 Kinuta, Setagaya-ku, Tokyo Broadcasting Technology Laboratory Japan Broadcasting Corporation (72) Inventor Hideo Noguchi 1-1-10 Kinuta, Setagaya-ku, Japan Japan Broadcasting Institute Broadcasting Technology Laboratory (72) Inventor Seiki Inoue 1-10-11 Kinuta, Setagaya-ku, Tokyo Japan Broadcasting Corporation Broadcasting Technology Laboratory (72) Inventor Hideki Mitsumine 1-10-11 Kinuta, Setagaya-ku, Tokyo No. Japan Broadcasting Corporation Broadcasting Technology Research Institute (72) Inventor, Osamu Kato 1-11-10 Tomigaya, Shibuya-ku, Tokyo Stock company In Kyoto Hi-Vision (72) inventor Kunihiko Motoya Osaka Prefecture Kadoma Oaza Kadoma 1006 address Matsushita Electric Industrial Co., Ltd. in the (72) inventor Masao Fujiwara Setagaya-ku, Tokyo Kinuta chome 10th No. 3 Foundation method people NA terrain engineering services within the

Claims (6)

[Claims] 1. An instruction operating unit, which is attached to a fixed unit and is displaced by an external force, has at least two degrees of freedom, and the amount of displacement on a scale corresponding to each of the degrees of freedom is set as an amount of displacement in length or angle. In a manipulator provided with at least two or more conversion units that output in the form of signals, a preset range within an arbitrary range within a physically movable range of the instruction operating unit and an electric signal output as the displacement amount Comparing means for comparing the calculated position of the instruction operating part, a plurality of electromagnetic brakes for limiting the operation range of the instruction operating part within the set range according to the output of the comparing means, An external force detecting means for detecting the direction of an external force applied to the instruction operating portion when locked, and an electromagnetic lock for electrically locking the electromagnetic brake at least on the boundary of the setting range. An electromagnetic brake control unit that unlocks the electromagnetic brake when the direction of the external force applied to the instruction operating unit is inside the set range based on the detection result of the external force detection unit. And manipulator. 2. The instruction operating unit according to claim 1, which is directly connected to the converting unit, and the instruction operating unit is connected to the electromagnetic brake so as to have a backlash equal to or higher than a resolution of the converting unit. As a result, the manipulator in which the conversion section also serves as the external force detection means. 3. The electromagnetic brake control unit according to claim 2, wherein the electromagnetic brake control unit increases the braking force as the position of the instruction operating unit approaches the boundary in a fixed range near the boundary of the setting range, A manipulator including a control means for electrically locking an electromagnetic brake on the boundary. 4. The manipulator according to claim 2, wherein the electromagnetic brake control unit includes control means for generating a constant braking force on at least the electromagnetic brake within the entire set range. 5. The acceleration of the instruction operating unit according to claim 2, wherein the electromagnetic brake control unit calculates from an electric signal output as a displacement amount of at least the length or the angle within the entire range of the setting range. A manipulator including control means for causing the electromagnetic brake to generate a braking force inversely proportional to the magnitude of the. 6. The method according to claim 4 or 5, wherein the instruction operating unit is rotationally displaced about a center point of a sphere.
A manipulator having a 0 cm spherical shell shape.