PROGRAMMING ARRANGEMENT FOR MANIPULATOR

In a programming device for handling equipment, the centre part (1) is connected to the member of the handling equipment to be programmed. Arranged around the centre part (1) is a sleeve (2) which is guided by the hand of the programmer. Arranged between the centre part (1) and the sleeve (2) are measuring systems which measure the relative movements between the sleeve (2) and the centre part (1) which result owing to the guidance of the sleeve (2). These measuring systems consist of a slide (6) which is linearly guided on the centre part (1) and has a ball (8) arranged between two pins (5) which are connected to the sleeve (2). The pins (5) are surrounded by springs (3) which are supported, on the one hand, on the sleeve (2) and, on the other hand, on arms (9) of the slide guide. The movements of the slide (6) relative to the centre part (1) are measured.