Abstract: With an operation handle arranged in the neighborhood of e.g. a microscope for operation as an appliance to be supported attached to the tip of plural arms rotatably coupled with one another, the operation force applied to the operation handle is detected as a signal in directions of plural axes by a force/torque sensor, the detected force/torque information in each of the directions of the plural axes is impedance-control and track-control to compute an operation command for each joint in the plural arms, and on the basis of the operation command for each joint, the plural arms are moved in the direction of the operation force.

Abstract: In a turret apparatus with an automatic tool changer a turret head is rotatably provided on a body. The turret head has two main shafts arranged with an interval of 180 degrees about a rotary shaft. The two main shafts being disposed with an intersectional angle of 90 degrees therebetween so as to horizontally direct in an indexing position of the turret head. A rotary center of said turret head is horizontally directed so as to have an intersectional angle of 45 degrees with respect to each of said two main shafts. One of the main shafts is in on the working side when the other main shaft is on the stand-by side. An automatic tool changing arm and a tool stocker are arranged on the horizontal side portion of the main shaft on the stand-by side.