OPENTECHNICAL PUBLICATION
OT-2026-000003109

Process and apparatus for hand-controlled guiding of an instrument in a predetermined movement region

Published: 2026-09-15T19:30:57.085020Z
Permanent URL: https://opentechnical.org/p/OT-2026-000003109
Categories: Robotics & Automation > Robot Architectures

------------------------------------------------------------------------

ABSTRACT

A process for guiding an instrument in space, in which the instrument is
arranged at the free end of an articulated arm whose arm sections are caused
to pivot and/or travel with respect to each other by drive units. The
instrument is caused to travel in a limited movement region under the control
of a control device. For predetermination of the movement region for points
that are situated in the movement region, a respective pivot angle and/or
travel position between the respective arm sections is set. The respective
position and attitude of the instrument is sensed by at least a first
measuring device. For hand-controlled guiding of the instrument, an actuating
force exerted on the instrument and/or the articulated arm is sensed by a
second measuring device. The arm sections are mutually pivoted and/or moved in
dependence on the actuating force, the position of the instrument, and the
predetermined movement region, such that the instrument moves within the
predetermined movement region substantially in the direction of the actuating
force.

1. Drawings

[0001] Sheet 1.

[0002] Sheet 2.

------------------------------------------------------------------------

OpenTechnical publication OT-2026-000003109
Published 2026-09-15T19:30:57.085020Z
https://opentechnical.org/p/OT-2026-000003109