A compared with the conventional operating apparatus can be made compact, and an object thereof is to provide an operating device.
And A base portion 101 is disposed above the base portion 101, a parallel link mechanism having a movable portion 11 and the operation unit 102 having a gripped portion 12, and a pair of arm portions, and a pair of link portions, the When, a position sensor for detecting the position of the base end portion of the arm portion, based on the position where the position sensor detects, and a control unit 110 for controlling the position and / or orientation of the robot, the arm portion includes a proximal end part is plugged rotatably to the base portion 101, the link unit, a base end portion connected pivotally to the arm portion, the distal end portion is plugged rotatably movable portion 11, 6 to have a degree of freedom, the three sets of parallel link mechanisms 103A to 103C, between the base portion 101 and the movable portion 11 is connected, the operating device.
.FIELD 1