MANIPULATOR

PURPOSE:To conduct rough teaching operation by a master or the like surely and easily by providing a control device for feedbacking a detection signal showing the relation between an object of work and an end effector to portions other than a portion for regulating the position attitude of a slave manipulator in a work breakdown teaching device. CONSTITUTION:A slave regulates rough position and attitude of an end effector by teacing means such as a master or the like. The position and attitude of the end effector for an object of work at this time is detected by a detection sensor 2. An output signal of the detection sensor 2 is feedbacked to portions other than a portion for regulating the position and attitude of a slave manipulator in a work breakdown teaching device such as a master or the like. Thus, the assisting degree of freedom of the slave manipulator is controlled to always keep the position and attitude of the end effector for an object of work constant. Accordingly, even if the teaching contents for the slave are rough, teaching operation can be accomplished surely and easily.