Abstract: An arcuate action tool attachment is adapted to receive an input and to convert that input into reciprocating output motion along an arcuate path. The tool may be adapted to be combined with an existing linear reciprocating device or a rotary device, or the tool may comprise a single unit including a linear reciprocating device or a rotary device. The tool may be fitted with one or more curved or arc-shaped accessories, such as saw blades or the like, that reciprocate along the arcuate paths that may have substantially the same radius of curvature as the accessory.

Abstract: A cutting insert for a gear milling tool comprises an under side, an opposite upper side that forms a chip surface and is parallel to an extension plane (p), a circumferential edge side that connects the upper side and the under side. A centre axis (A) extends through the under side. A symmetry line (S) is perpendicular to the centre axis. A first cutting edge comprises a primary main cutting edge, a secondary main cutting edge—which are symmetrical in respect of the symmetry line—and a transverse end cutting edge between the primary and the secondary main cutting edge. A normal to the extension plane (p) forms an acute clearance angle with the edge side at least along the first cutting edge so that the cutting insert obtains a positive cutting geometry.

Abstract: An adapter for tapping used in a turret punch press includes a ring gear in which a tapping tool is mountable. Further, a gear holder in which the ring gear is disposed and which is mountable on a turret of the turret punch press so as to locate the disposed ring gear at a position corresponding to a punch mounting section formed in advance in the turret of the turret punch press is also provided.

Abstract: A heat exchanger tube precursor that allows manufacturing a heat exchanger having high corrosion resistance after brazing treatment is provided. The heat exchanger tube precursor includes: an Al alloy tube; and a flux layer including a Si powder, a Zn-containing flux, a Zn-free flux, and a binder, the flux layer being formed on an outer surface of the Al alloy tube.

Abstract: Provided is an arc welding method and arc welding apparatus for arc welding by a brazing filler metal two base materials subjected to a plating process. An arc welding method for arc welding two base materials, at least one of which has a plating layer thereon, by a brazing filler material, performs alternately a plating layer removal process of removing a plating layer by performing arc discharge at a first current value while moving a welding torch along a welding line in a state of stopping feed of the brazing filler metal, and a brazing filler metal welding process of welding the brazing filler metal to a position where the plating layer is removed, by performing arc discharge at a second current value smaller than the first current value while feeding the brazing filler metal in a state of stopping a movement of the welding torch.

Abstract: A system and method is provided in which each of a GMAW power supply and a TIG/plasma power supply are utilized in a common weld joint, where the waveforms from each of the power supplies are pulsed waveform which are pulsed out of phase which each other. Such a system minimizes arc interference and arc blow while at the same time increasing travel speed and throughput of a welding operation.

Abstract: There is described a joining device (1) comprising a stamp which can be moved up and down between a lower working position and an upper loading position. For example a hot embossing film (14) and a substrate (13) arranged under the hot embossing film (14) can be arranged between the stamp and the support table (12). The support table (12) is mounted pivotably about two pivot axes which are perpendicular to each other and which are perpendicular to the axis of movement of the stamp (11) and is pivotable by means of adjusting devices (18) about the two pivot axes, wherein the stamp (11) forms a rigid support in the working position. Alternatively the stamp (11) is mounted pivotably about two pivot axes which are perpendicular to each other and which are perpendicular to the axis of movement of the stamp (11) and is pivotable by means of adjusting devices (18) about the two pivot axes, wherein the support table (12) forms a rigid support in the working position.

Abstract: Tools for friction stir welding can be made with fewer process steps, lower cost techniques, and/or lower cost ingredients than other state-of-the-art processes by utilizing improved compositions and processes of fabrication. Furthermore, the tools resulting from the improved compositions and processes of fabrication can exhibit better distribution and homogeneity of chemical constituents, greater strength, and/or increased durability. In one example, a friction stir weld tool includes tungsten and rhenium and is characterized by carbide and oxide dispersoids, by carbide particulates, and by grains that comprise a solid solution of the tungsten and rhenium. The grains do not exceed 10 micrometers in diameter.

Abstract: A device forms grooves or slits in a material web as it moves in a longitudinal direction. The grooves or slits, which are spaced apart from one another in the longitudinal direction, are formed by a laser beam. A laser beam source generates a continuous laser beam and a deflection mirror directs the laser beam onto the material web. The mirror rotates about an axis of rotation and it is displaceable along the axis. The mirror has a first mirror face, the line of intersection of which with a sectional plane perpendicular with respect to the axis of rotation forms a circular arc which varies depending on the axial position of the sectional plane. A second mirror face deflects the laser beam towards an absorber. Focusing optics focus the laser beam, after reflection from the first mirror face, onto the moving material web.

Abstract: A laser dicing method is a laser dicing method which includes: switching irradiation and non-irradiation of the pulse laser beam on the work piece in light pulse units by controlling passing and blocking of the pulse laser beam using a pulse picker in synchronization with the clock signal; and forming a crack reaching a substrate surface of the work piece to be continuous in the substrate surface of the work piece, and which includes: a first crack forming step of irradiating the pulse laser beam on the work piece along a first line; and a second crack forming step of irradiating the pulse laser beam on the work piece along a second line orthogonal to the first line, and in which, in an area in which the first line and the second line cross, a light pulse density of the pulse laser beam is increased in the first crack forming step or the second crack forming step.

Abstract: The present invention relates to a laser processing apparatus for irradiating a printed wiring board 9 with a laser beam L so as to form holes 22 at a plurality of predetermined positions on the printed wiring board 9. The device includes, from upstream on an optical path of the laser beam: a second fly eye lens 6 that achieves the uniform intensity distribution of the laser beam L; a second condenser lens 7 that collimates the laser beam L emitted from the second fly eye lens 6; and a micro lens array 8 positioned in a manner facing the printed wiring board 9 and having a plurality of micro lenses 19 formed in a manner corresponding to the plurality of positions on the printed wiring board 9.

Abstract: Embodiments of the present disclosure are directed towards flux materials for heated solder placement and associated techniques and configurations. In one embodiment, a method includes depositing a flux material on one or more pads of a package substrate, the flux material including a rosin material and a thixotropic agent and depositing one or more solder balls on the flux material disposed on the one or more pads, wherein depositing the one or more solder balls on the flux material is performed at a temperature greater than 80° C., and wherein the rosin material and the thixotropic agent are configured to resist softening at the temperature greater than 80° C. Other embodiments may be described and/or claimed.

Abstract: The present disclosure provides three-dimensional structures and related methods. The three-dimensional structures may define patterns of positive and negative spaces on opposing surfaces that combine to form the three-dimensional structures. The negative spaces of the patterns may intersect to form apertures through the three-dimensional structures, which may define linear or non-linear paths therethrough. The apertures may be configured to provide desirable characteristics with respect to light, sound, and fluid travel therethrough. Further, the three-dimensional structures may be configured to define desired stiffness, weight, and/or flexibility. The three-dimensional structures may be employed in embodiments including heat sinks, housings, speaker or vent covers, springs, etc.

Abstract: A method of removing liquid from the surface of an airfoil of equipment that handles a wet gas mixture. The airfoil has at least one interior passage, such as a bore, for travel of air or other gas through the interior of the airfoil. A series of holes are cross drilled from one or both exterior surfaces of the airfoil to the passage. Forced air or other gas is introduced into the passage such that the air or other gas is expelled to the surface of the airfoil via the holes, thereby removing the surface liquid.

Abstract: Disclosed is a heating apparatus for manufacturing a display device, which prevents damage or breakage even though a heating member is deformed by heat, and extends a period for replacement of the heating member, wherein the heating apparatus comprises the heating member for emitting heat so as to heat a material to be deposited on a substrate prepared for manufacturing the display device, a first installing device for supporting the heating member, and a second installing device provided with a passing hole for passing the other end of the heating member therethrough.

Abstract: The invention concerns a centring device for centring a chuck on a securing portion in particular of a rotating spindle of a machine, wherein a tapered portion corresponding to a mating tapered portion on the chuck side is provided on the securing portion in such a way that the tapered portion and/or the mating tapered portion is/are formed so as to yield elastically in the axial direction such that, after the tapered portion comes into contact with the mating tapered portion, the chuck can be moved further in the axial direction, at least to a limited extent, as a result of an axial pulling-in force until the chuck comes to lie against a stop on the securing portion side. The invention likewise concerns an associated locking device.

Abstract: A mounting unit for a tool depositing device includes a coupling carrier having a tool-side coupling element, in particular for a coupling device for a tool of a robot, and a holding device that can be connected to a mounting plate of the tool depositing device. An intermediate space is provided between the holding device and the coupling carrier to allow compensating movements between the coupling carrier and the holding device. The holding device includes two guide rails, between which the coupling carrier is pushed in. An interlocking engagement between the coupling carrier and the guide rails is produced by engaging at least one protuberance in at least one recess, wherein the at least one recess and the at least one protuberance are arranged on mutually opposing sides of the coupling carrier and of the guide rails.

Abstract: A centrifugal barrel polishing machine includes a barrel which is configured to perform planetary rotation and into which workpieces and ceramic polishing media are put, thereby polishing the workpieces by the polishing media. A relative centrifugal acceleration F during the planetary rotation of the barrel is set in a range of 2.1(n/N)+29.5?F?6.1(n/N)+40.7 where N designates a revolution speed of the barrel, n designates a rotation speed of the barrel, R designates a radius of an orbital path drawn by a rotation center of the barrel, n/N designates a rotation/revolution ratio of the barrel, and F=4?2N2R/g designates a relative centrifugal acceleration which is a ratio of a centrifugal acceleration on the orbital path during the planetary rotation of the barrel to gravity acceleration g.

Abstract: Described herein are methods for polishing sapphire surfaces using compositions comprising colloidal silica, wherein the colloidal silica has a broad particle size distribution.

Abstract: It is an object of the invention to provide a tank for use in making high-quality, air void-less, polishing pads, to provide a method for producing a polishing pad using the tank, and to provide a polishing pad obtained by such a production method. A tank for holding a resin composition, the tank comprising two or more body components and joint parts, wherein the two or more body components are joined by the joint parts to form a frame-shaped body, at least one of the joint parts includes an opening and closing member that joins adjacent ones of the body components in such a way that the adjacent body components can swing open, and at least another one of the joint parts includes a joint member that joins adjacent ones of the body components in such a way that the adjacent body components can swing about the joint member.

Abstract: A method for providing a surface treatment along the surface of a work piece, using a burnishing tool having a tool head comprising a bearing for supporting a rolling element and an encasement for supporting the bearing. The bearing is formed from a polymer or polymer resin such as, but not limited to, polytetrafluoroethylene based resin, ultra-high-molecular-weight polyethylene based resin.

Abstract: An electrical lapping guide has a body with a thickness along a wafer axis, the body comprising a layer of conductive material having a resistivity. The conductive material layer comprises a first contact region and a second contact region, the first and second contact regions configured to electrically connect the electrical lapping guide to electrical leads. A lapping edge comprises an air-bearing plane axis perpendicular to a lapping axis, and a back edge opposite the lapping edge, the back edge comprising a plurality of notches.

Abstract: An edge grinding apparatus and method for grinding a glass substrate, with which a glass substrate can be ground by a fixed amount and the occurrence of defects can be minimized. The edge grinding apparatus includes an edge grinding unit which grinds a cut edge of a glass substrate while following the cut edge; a measuring unit which obtains positional information of the cut edge; and a control unit which receives the positional information of the cut edge from the measuring unit and controls a position of the edge grinding unit based on the positional information of the cut edge.

Abstract: A method of controlling polishing includes polishing a substrate and receiving an identification of a selected spectral feature, a wavelength range having a width, and a characteristic of the selected spectral feature to monitor during polishing. A sequence of spectra of light from the substrate is measured while the substrate is being polished. A sequence of values of the characteristic of the selected spectral feature is generated from the sequence of spectra. For at least some spectra from the sequence of spectra, a modified wavelength range is generated based on a position of the spectral feature within a previous wavelength range used for a previous spectrum in the sequence of spectra, the modified wavelength range is searched for the selected spectral feature, and a value of a characteristic of the selected spectral feature is determined.

Abstract: A method of grinding spring ends of helical compression springs is carried out using a numerically controlled spring end grinding machine having a grinding unit, a loading unit and a control unit that controls the loading unit and the grinding unit. The grinding unit has a pair of grinding wheels including two rotatable grinding wheels between which is formed a grinding space. The loading unit has at least one loading plate substantially rotatable axially parallel to the grinding wheels and has a plurality of out-of-axis spring receptacles, each to receive a helical compression spring.

Abstract: The liquid diffuser adapter is intended to be attached to the arbor wheel of a center fed, wet stone fabrication machine to facilitate dust elimination. The adapter contains a fastener, a plurality of diffusing channels, and a protective coating. The fastener includes a main body, a flange, and a receptive cavity. The flange is concentrically and adjacently connected to the main body. The receptive cavity traverses through the flange and partially into the main body. The receptive cavity contains an opening, a threaded portion, and a hub portion. The threaded portion is used to attach the adapter to the arbor wheel through the opening; the hub portion allows for water to flow into the device and be redirected into the plurality of diffusing channels; the plurality of diffusing channels is radially positioned about the receptive cavity, connecting the hub portion to the exterior environment and thus the cutting disk.

Abstract: Systems and methods for fluidizing an abrasive particulate material for an abrasive water jet are disclosed herein. In one embodiment, the abrasive material is delivered to a metering orifice in a distributor. Pressurized pulses of air can be directed around a circumference of the distributor to at least partially fluidize the particulate material to facilitate the material passing through the metering orifice. From the metering orifice, the abrasive particulate material is entrained in a water jet for a cutting procedure or other suitable application.

Abstract: A method of forming a polycrystalline diamond compact from_a substantially homogeneous suspension of nanodiamond particles and microdiamond particles is disclosed The method includes disposing a first functional group on a plurality of nanodiamond particles to form derivatized nanodiamond particles, and combining the derivatized nanodiamond particles with a plurality of microdiamond particles, metal solvent-catalyst particles and a solvent to form a substantially homogeneous suspension of these particles in the solvent. A method of making an article is also disclosed. The method includes forming a superabrasive polycrystalline diamond compact by combining: a plurality of derivatized nanodiamond particles, a plurality of derivatized microdiamond particles having an average particle size greater than that of the derivatized nanodiamond particles, and a metal solvent-catalyst.

Abstract: A clamping device is configured to ensure that a workpiece fixed between the jaws of the clamp is self centered by coupling the jaws to a pair of linkages that rotate through the same angle as the application of a first causes the jaws to translate in linear fashion across the surface of the device. In particular, the clamping device utilizes coupled linkage (e.g., a 180° bell crank), in combination with slots for retaining opposing jaws and maintaining only linear movement of the jaws, thus providing a fast and accurate self-centering arrangement. The clamping device may also be located within a hollow workpiece and controlled to move the jaws outward and engage the inner surface of the hollow workpiece in a self-aligned configuration.

Abstract: A straight edge bar clamp comprises an elongated channeled bar, a threaded base, first and second movable jaw bodies, bosses or divots, a catching device, and a threaded shaft. The elongated channeled bar having an inner channel portion. The threaded base is installed fixedly in the elongated channeled bar. The first movable jaw body is installed movably and partially in the elongated channeled bar between the second movable jaw body and the end of the bar furthest from the threaded base. The bosses or divots are provided on an inner surface of the inner channel portion and configured to define the predetermined stopping positions of the first movable jaw body. The catching device is provided in the first movable jaw body. The second movable jaw body is installed partially in the elongated channeled base movably between the threaded base and the first movable jaw body along the elongated channeled bar.

Abstract: The present invention relates to standardizing the manufacture above-the-knee (AK) and below-the-knee (BK) prosthetic sockets and attached hardware using specially designs alignment jigs that can record position of components, with micro-encoders embedded in the jig, to quantify various degrees of freedom (rotations and translations) during integration of a temporary check socket or prosthesis. These records, together with a digital record of the shape of the truncated limb, in the form of a CAD file, can provide a complete digital record or “prescription” of the prosthesis. The digital record is then transferable to a central fabrication facility which uses a jig augmented with motors, drives systems, and encoders to robotically position and align fixtures and clamps to streamline integration and production of the prosthesis in a standardized manner.

Abstract: An impact socket includes a socket body having a first end configured to mount to a drive shaft of an impact wrench and an opposing second end, the socket body defining at least one socket body fastener driving structure at the second end. The impact socket includes a collar assembly carried by the socket body, the collar assembly defining at least one collar assembly fastener driving structure. The collar assembly is configured to move linearly between (i) a first position relative to the socket body where a distal end of the collar assembly extends beyond a distal end of the socket body and (ii) a second position where the distal end is disposed at least equidistant to the second end of the socket body.

Abstract: A method of a hand held torque delivering power tool for tightening a screw joint up to a predetermined target torque level, the method including applying a tightening torque to the screw joint during a tightening phase via a snug torque level, indicating during the tightening phase a torque growth characteristic, interrupting the torque application on the screw joint upon arrival at a target torque level to prevent further rotation of the screw joint, and resuming the torque application via a declination ramp at a declining rate after the target torque level is reached. The resumed torque application is declined at a rate corresponding to the indicated torque growth characteristic to obtain an ergonomically favorable torque reaction characteristic in the power tool.

Abstract: An electronic torque tool includes a main body; at least one display unit disposed on the main body for displaying torque values, and several pushbuttons disposed on the main body for a user to set values to the torque tool. The electronic torque tool has resettable torque warning values, which are discontinuous values with an interval therebetween. Thanks to the interval between the discontinuous resettable torque warning values, the torque warning value of the torque tool is lower than the required tightening force. In this case, it can be avoided that a threaded member is over-tightened.

Abstract: A brake tool for servicing an S-cam braking mechanism, including an essentially elongate member of generally uniform thickness and having gripping and engagement portions separated by a predetermined lateral distance; an elevation portion intermediate the gripping and engagement portions and having a predefined gripping angle relative to the gripping portion as well as a predetermined engagement angle relative to the engagement portion; wherein the engagement portion transitions into an engagement extent along a transition portion of predetermined length, with the transition portion having a predetermined transition angle relative to an engagement means defined at a distalmost portion of the transition portion, wherein the engagement means is configured and dimensioned to engage a return spring shaft of an S-cam braking mechanism.

Abstract: A hammer structure includes a hammer head and a handle is connected to the head. The handle has multiple parallel resilient sticks received therein. Each of the resilient sticks has a first threaded section and a second threaded sections formed on two ends thereof. A first locking member and a second locking member are respectively connected to the first and second threaded sections. The first threaded sections of the resilient sticks extend through multiple through holes in the hammer head and are connected with multiple third locking members. The second threaded sections of the resilient sticks are fixed to the handle. The handle includes multiple coats. The resilient sticks absorb vibrations when using the hammer.

Abstract: A tool for resetting a gas regulator valve after an over-pressure event.

Abstract: A power tool that includes a housing, a motor, a trigger, a multi-speed transmission and a torque clutch. The housing define a handle. The motor is coupled to the housing. The trigger is coupled to the housing and configured to control operation of the motor. The multi-speed transmission is configured to transmit rotary power between the motor and the output spindle and includes a plurality of planetary stages with a first stage and a second stage that receives rotary power from the first stage. The first stage has a first internally toothed gear element and the second stage having a second internally toothed gear element. The torque clutch limits torque output from the multi-speed transmission to the output spindle. The torque clutch is configured to alternatively ground the second and third internally toothed gear elements to the housing based on a speed ratio setting of the multi-speed transmission.

Abstract: An implement includes a shaft, a plug, and a tool portion. The plug is received and retained at one end of the shaft, and the plug and the tool portion are adapted to engage with one another. In addition, an implement for use with a slide hammer includes a shaft which has a receiving portion at one end thereof for receiving an implement head and an aperture at the opposite end thereof forming a guiding portion for the slide hammer, a plug having first and second sections (wherein the first section is received and retained at one end of the shaft and the second portion is not received by the shaft and includes an aperture therein for receiving a tool portion), a tool portion, which includes a slot or aperture therein for engagement with both said second section of said plug and the said shaft, or part thereof.

Abstract: A toolbag having a bag enclosure, a selectively-removable tray, and a cushion. The tray is selectively-fastenable to the enclosure for ease of transport. The tray may be unfastened and the cushion removed for use as a kneeling pad at a work site. The tray may then be used to hold small parts and tools.

Abstract: A robot cleaner includes a main body, a light transmitting unit, an image sensor, a base, a rotation drive unit, and an elevation drive unit. The light transmitting unit emits light. The light reflected or scattered by an obstacle is sensed by the image sensor. The base supports the light transmitting unit and the image sensor and is rotatably and vertically movably disposed in the main body. The rotation drive unit rotates the base. The elevation drive unit allows the base to retract or protract from the main body.

Abstract: In one aspect, a translational parallel manipulator is provided and includes a fixed platform including three guide members. The three guide members include first ends and second ends, and the first ends of the three guide members are all coupled to each other and the second ends of the three guide members are all spaced-apart from each other. The manipulator also includes a movable platform spaced-apart from the fixed platform and three serial subchains coupled between the three guide members and the movable platform. In one aspect, a translational parallel manipulator is provided and includes a fixed platform, a movable platform spaced-apart from the fixed platform, and a plurality of subchains coupled between the fixed platform and the movable platform. At least one of the plurality of subchains includes no more than four one degree-of-freedom joints.

Abstract: A robotic testing device is provided for more closely emulating human movements during robotic testing of mobile devices by using multiple robotic implements to interact with a mobile device, and by facilitating movement of the mobile device during testing. The robotic testing device may facilitate use of multiple robotic implements configured to interact with a mobile device during testing of the mobile device. One or more of the multiple robotic implements may be configured to move simultaneously, in succession, separately, and/or otherwise interact with a mobile device during performance of a test command on the mobile device. Further, a holder of the mobile device may be configured to move during performance of a test command on the mobile device.

Abstract: A robotic limb structure which is capable of achieving high speeds. In the context of a biped, the structure is used for a pair of hind limbs. The limb structure includes a primary driven link—such as a thigh pivoting about a hip joint in the case of a hind limb. Secondary links are pivotally connected to the primary driving link. Auxiliary links are provided to constrain the motion between the links. Elastic trim elements are also provided to define a “relaxed” state for the limb and to influence the resonance characteristics of the structure. The control system takes advantage of the resonant characteristics of the structure as a whole.

Abstract: A method of operating a robot includes electronically receiving images and augmenting the images by overlaying a representation of the robot on the images. The robot representation includes user-selectable portions. The method includes electronically displaying the augmented images and receiving an indication of a selection of at least one user-selectable portion of the robot representation. The method also includes electronically displaying an intent to command the selected at least one user-selectable portion of the robot representation, receiving an input representative of a user interaction with at least one user-selectable portion, and issuing a command to the robot based on the user interaction.

Abstract: A semi-automatic, interactive robotic system for performing and/or simulating a multi-step task includes a user interface system, a recognition system adapted to communicate with the user interface system, a control system adapted to communicate with the recognition system, and a sensor-actuator system adapted to communicate with the control system. The recognition system is configured to recognize actions taken by a user while the user operates the user interface system and to selectively instruct the control system to cause the sensor-actuator system to perform, and/or simulate, one of an automatic step, a semi-automatic step or direct step of the multi-step task based on the recognized actions and a task model of the multi-step task.

Abstract: A method of determining an optimal grasp pose of an object by an end-effector of a robot in the execution of a task includes receiving a set of inputs via a controller, including a descriptive parameter of the object, a task wrench having a frame of reference, and a commanded end-effector grasp force. The method includes calculating a grasp wrench in the frame of reference of the task wrench, rotating and shifting the grasp pose, and then computing a resultant new grasp wrench via the controller until the task wrench and the grasp wrench are optimally balanced. Additionally, the method includes recording the optimal grasp pose as the grasp pose at which the grasp and task wrenches are optimally balanced, and then executing a control action via the controller using the recorded optimal grasp pose. A robotic system includes the robot and a controller programmed to execute the method.

Abstract: Awareness of a device, such as a robot, to proximate humans (or other moving object) is manifested by a visual signal aligned with—i.e., aimed at—the human. For example, an illumination system may take the form of a closed or partial ring around which lighting elements may be selectively activated.

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

Abstract: A master-slave manipulator includes a slave manipulator, a master operation input device, and a control unit. The slave manipulator includes joints having multiple degrees of freedom. The master operation input device allows an operator to uniquely input a position and an orientation. The device includes a first operation unit configured to output the position and orientation, and a second operation unit including at least a joint configured to output value of the joint independently with the output of the first operation unit. The control unit calculates a driving amount of each joint of the slave manipulator using the position and orientation of the second operation unit and controls the slave manipulator in accordance with a joint driving command value.