Abstract: A laser processing machine includes a machine main body that has a laser processing head, a processing table on which a workpiece to be processed is laid; and a light-shielding cover that is provided above the processing table, and covers an upper surface of the processing table. The cover is transformable between a deployed state and retracted state, and can adjust an area covering the upper surface of the processing table. According to the laser processing machine, it is possible to cover only a necessary area for laser processing by its compact cover without inhibiting workability for carrying in/out the workpiece.

Abstract: Wafers are aligned with one another by reference to features formed on or in each wafer. Notches are formed in each wafer, including a pivot-notch that allows for two-point contact, and a stop-notch that provides for single-point contact. A bias-notch is formed for pressing the wafers into engagement with the two-contact element when it is in the pivot-notch and with the single-contact element when it is in the stop-notch. The wafers may be bonded to one another to maintain the alignment of the referenced features.

Abstract: A laser cutting machine for cutting a workpiece having a first thickness (using a first processing laser beam having a first laser beam characteristic and a workpiece having a different second thickness using at least a second processing laser beam having a different second laser beam characteristic includes a laser source for producing a unprocessed laser beam having a laser wavelength of less than 4 ?m, a device which forms from the unprocessed laser beam the processing laser beams, and a control unit which controls the device in dependence on the thickness of the workpiece to be cut.

Abstract: A controller performs gap control such that a Z-axis position of a tip of a cutting head of the machine is not below a preset lower limit position while keeping the distance between the tip of the cutting head and a workpiece constant. The numerical controller calculates a substantial lower limit position based on a detected state of the workpiece and the preset lower limit position. If the Z-axis position of the tip of the cutting head is below the calculated substantial lower limit position, it is compensated so as not to be below the substantial lower limit position.

Abstract: A hybrid laser modulation and acid etch process for the creation of a patterned substrate. According to some embodiments, a hole is formed in a glass substrate by first modulating a portion of the substrate in the desired shape. A mask is coated on the glass substrate and is patterned to expose the modulated portion. The glass substrate is then acid etched to remove the modulated portion. Once the modulated portion has been etched, the desired shape may be removed from the glass substrate and the mask may be stripped.

Abstract: A laser processing machine includes a laser oscillator. The laser oscillator excites a laser beam having a wavelength in a 1 ?m band or a shorter wavelength band. One process fiber transmits the laser beam emitted from the laser oscillator. A focusing optical element focuses, when a workpiece is irradiated with the laser beam emitted from the process fiber, the laser beam on a plurality of spots in a unit area within a unit time, the unit area having a radius of 0.5 mm of an optical axis of the laser beam, and the unit time being a time from when the workpiece starts to melt to when the melting of the workpiece ends.

Abstract: A laser drilling method is a laser drilling method for performing drilling on a workpiece by use of a laser beam. The laser drilling method includes, after machining a through hole by radiating the laser beam to the workpiece (S100), scanning with the laser beam centered around the through hole toward a radial direction while changing a radiation output of the laser beam (S200).

Abstract: A method for producing a preliminary material for a cutting tool and such a preliminary member, for example a preliminary material for a saw blade, a saw band, a cutting line, a punching knife, or a blade, wherein at least one first particulate cutting-edge material is applied to a planar carrier, the first particulate cutting-edge material is welded to the planar carrier, and the planar carrier is separated substantially along the weld joint thus produced.

Abstract: Features herein relate to an electric arc welding method for creating a multi-pass welded joint comprising the following steps: a first stand-alone toe weld on a first construction element, then, arranging the first construction element and a second construction element in a joining position, with a distance being present between the first stand-alone toe weld and a root area of the welded joint to be created, while maintaining the joining position, making a first weld connection between the first construction element and the second construction element by applying a root pass at the root area, then, applying one or more filling beads, wherein the first stand-alone toe weld, the root pass and the one or more filling beads together form part of the welded joint, wherein the first stand-alone toe weld forms the toe of said welded joint at the side of the first construction element.

Abstract: In a solder alloy consisting essentially of tin, silver, copper, bismuth, antimony, indium, and nickel, the content ratio of the silver is 0.05 mass % or more and below 0.2 mass %; the content ratio of the copper is 0.1 mass % or more and 1 mass % or less; the content ratio of the bismuth is above 4.0 mass % and 10 mass % or less; the content ratio of the antimony is 0.005 mass % or more and 8 mass % or less; the content ratio of the indium is 0.005 mass % or more and 2 mass % or less; the content ratio of the nickel is 0.003 mass % or more and 0.4 mass % or less; and the content ratio of the tin is the remaining ratio and the mass ratio (Bi/Ni) of the bismuth content with respect to the nickel content is 35 or more and 1500 or less.

Abstract: An aluminum alloy brazing sheet exhibits excellent brazability by effectively weakening an oxide film formed on the surface of a filler metal. The aluminum alloy brazing sheet includes a core material and a filler metal, and is used to braze aluminum in an inert gas atmosphere or in vacuum, the core material including aluminum or an aluminum alloy, the filler metal including 6 to 13 mass % of Si, with the balance being Al and unavoidable impurities, and one side or each side of the core material being clad with the filler metal, wherein the core material is clad with the filler metal in a state in which a sheet material is interposed between the core material and the filler metal, the sheet material including one element, or two or more elements, among 0.05 mass % or more of Li, 0.05 mass % or more of Be, 0.05 mass % or more of Ba, and 0.05 mass % or more of Ca, with the balance being Al and unavoidable impurities.

Abstract: A weld joint with an excellent CTOD property is produced with a weld metal, using a steel plate as a base metal. The steel plate has a chemical composition including C: 0.03% to 0.09%, Si: 0.01% to 0.35%, Mn: 1.3% to 2.0%, P: 0.012% or less, S: 0.0035% or less, Al: 0.01% to 0.06%, Ni: less than 0.3%, Mo: less than 0.10%, Nb: 0.005% to 0.023%, Ti: 0.005% to 0.025%, B: less than 0.0003%, N: 0.002% to 0.005%, Ca: 0.0005% to 0.0050%, and O: 0.0030% or less, with the components additionally satisfying a predetermined relationship. The weld metal has a chemical composition including C: 0.040% to 0.090%, Si: 0.1% to 0.8%, Mn: 1.0% to 2.5%, Al: 0.020% or less, Ni: 0.1% to 1.0%, Mo: 0.05% to 0.50%, Ti: 0.005% to 0.050%, and B: 0.0015% or less, the balance being Fe and incidental impurities.

Abstract: This disclosure relates generally to Gas Metal Arc Welding (GMAW) and, more specifically, to Metal-cored Arc Welding (MCAW) of mill scaled steel workpieces. A metal-cored welding wire, including a sheath and a core, capable of welding mill scaled workpieces without prior descaling is disclosed. The metal-cored welding wire has a sulfur source that occupies between approximately 0.04% and approximately 0.18% of the weight of the metal-cored welding wire, and has a cellulose source that occupies between approximately 0.09% and approximately 0.54% of the weight of the metal-cored welding wire.

Abstract: Internal clamping of a weld-neck fitting to a pipe in preparation for precision tack welding of the fitting to the pipe is established by a pair of alignment and clamping wedge members, each having alignment and gripping members and angulated reaction surfaces which are positioned within the pipe and weld-neck fitting with the angulated reaction surfaces in relatively moveable engagement. One of the alignment and clamping wedge members is moved linearly, causing the angulated reaction surfaces to translate the linear movement to lateral movement, forcing the alignment and gripping members laterally against the internal surfaces of the pipe and fitting and supporting the fitting in precision aligned relation with the pipe to facilitate tack welding.

Abstract: The present invention concerns a device for the positioning of a number of supports (8) on a rail (25), the support (8) being mounted on a carriage (4-7) for the movement of the support (8) to desired position on the rail (25), the carriage (4-7) being provided with means (27) for the connection of the carriage (4-7) with means (15) for the movement of the carriage (4-7) on the rail (25), and the carriage (4-7) being provided with means (29) for the determination of the position of the carriage (4-7) and thereby of the support (8) on the rail (25).

Abstract: Disclosed generally is a face plate for a vise that is capable of gripping multiple work-pieces of different sizes at the same time. In one embodiment, the disclosed subject matter may be a vise face plate comprising: a base with an upper compensation structure and a lower compensation structure; and, wherein the upper and lower compensation structures define two sets of working surfaces. In use, the plate may be secured to a movable jaw so that the working surfaces may be employed to clamp a plurality of work pieces between the working surfaces and a fixed jaw.

Abstract: A method for fabricating vacuum tooling is disclosed using porous granular media. A sheet of steel webbing is affixed to a frame. A plurality of layers of fiberglass is affixed to the webbing. A vacuum port is installed through the webbing and plurality of layers of fiberglass. A granular media is mixed with epoxy to form a granular mixture. The granular mixture is layered over the plurality of layers of fiberglass to form a flat surface and machined for uniformity before sealing.

Abstract: Automated fixture layout is approached in two distinct stages. First, the spatial locations of clamping points on the work piece are determined to ensure immobility of the fixtured part under any infinitesimal perturbation. Second, spatial locations are matched against a user-specified library of reconfigurable clamps to synthesize a valid fixture layout or configuration that includes clamps that are accessible and collision free. The spatial locations matching during the second stage can be the same spatial locations chosen in the first stage to ensure immobility, or a different set of spatial locations.

Abstract: An intellectual automatic tool changer (ATC) speed moderating system, which is disposed between a tool magazine and a tool exchanging arm, includes an image capture device for capturing the image of tools, and a processing device connected with the image capturing device. The processing device includes a receiving module for receiving the images of tools, a calculating module for calculating an assessment value of a tool according to the image of the tool, and a signal transmitting module connected with a controller of the tool exchanging arm for transmitting the assessment value of the tool to the controller. Therefore, the tool changing speed of the tool changing arm is controlled and moderated.

Abstract: In a workpiece loader device, a loader mechanism is configured to move a loader hand directly held by operator's hands to a desired position. A loader mechanism control part stores position coordinates as workpiece receiving position coordinates when the loader hand is moved by operator's hands to the workpiece receiving position and a completion of moving is confirmed.

Abstract: Multiple cameras are used for tool positioning, as-built documentation, and/or personnel monitoring in construction site. A camera unit comprises one or more imaging devices, a processing computer, and a communication device. The camera units are placed at multiple locations in a construction site to cover an area. The camera units are self-positioned by detecting a calibration target that moves within a working volume. The camera units can detect and calculate positions of objects, including measurement sticks, tools, personnel, etc., in the area.

Abstract: A skate blade sharpening system used to sharpen the blades of ice skates. The skate sharpener can include a housing that includes an elongated slot for receiving the blade of an ice skate for sharpening, and clamp jaws for retaining the skate. The housing can include at least one slot cover to engage the skate blade. Engagement of the skate blade can be sensed by a controller to enable sharpening operations to proceed. The skate blade sharpening system can automatically operate a grinding wheel and move the rotating grinding wheel back and forth along the lower face of the skate blade a desired number of times to sharpen the skate blade.

Abstract: The invention has a turnback roll which can transfer and guide a polishing tap in a tangential direction of a pressure contacting roll, a vertical oscillation mechanism which linearly oscillates the pressure contacting roll in a tangential direction of a ball groove while being orthogonal to a rotating axis line, and a horizontal oscillation mechanism which linearly oscillates the pressure contacting roll in a direction of a rotating axis line toward both inner side surfaces of the ball groove. The ball groove can be securely polished by the polishing tape on the basis of the continuous or intermittent transfer of the polishing tape and the linear oscillating motion of the ball groove. It is possible to improve a polishing precision, it is possible to improve a surface roughness of the ball groove and it is possible to improve a polishing workability of the ball groove.

Abstract: A polishing method including polishing to polish a surface of a wafer by sliding the wafer held by a polishing head on a surface of a polishing pad while supplying a polishing slurry to the polishing pad attached to a turntable, the method including correlation derivation to obtain a correlation between a surface temperature of the polishing pad and a haze level of a wafer polished with the use of the polishing pad in advance before performing the polishing, and also the wafer is polished in the polishing while controlling the surface temperature of the polishing pad based on the correlation between the surface temperature of the polishing pad and the haze level of the wafer polished with the use of the polishing pad. Consequently, the polishing method can control a haze in polishing a wafer and thereby prolong the service life of the polishing pad.

Abstract: In a polishing head for a CMP apparatus, a stress distributing plate made of metal or ceramic is placed between a wafer on a polishing pad and an air bag configured to press down the wafer, and a shock absorbing sheet is provided between the stress distributing plate and the underlying wafer, to thereby make pressure applied from the air bag to the wafer uniform.

Abstract: In some embodiments, the present disclosure relates to a method of performing a planarization process. The method may be performed by placing a wafer between a carrier head and an upper surface of a polishing pad. The carrier head has a retainer ring configured to surround the wafer, and the retainer ring has an abrasive structure configured to contact the upper surface of the polishing pad. Pressures within one or more chambers surrounded by the carrier head are independently regulated. The one or more chambers have one or more interior surfaces having a flexible membrane. The flexible membrane has a lower surface configured to contact the wafer. At least one of the carrier head or the polishing pad are moved relative to the other, and a roughness of the upper surface of the polishing pad is maintained within a predetermined range by using the abrasive structure of the retainer ring.

Abstract: A grinding coolant supplier configured to supply a grinding coolant to a grinder configured to grind an element of a machine part having a rolling element, the grinding coolant supplier including: a grinding coolant generation apparatus configured to generate a grinding coolant which is a mixture of a water-soluble stock coolant, a first reformed water of which water particles have an average particle size of not smaller than 80 nm and not greater than 150 nm, and a second reformed water of which water particles have an average particle size of not smaller than 5 nm and smaller than 80 nm; and grinding coolant supplying device configured to supply the generated grinding coolant to the grinder.

Abstract: A hanging section is installed at an upper side of a cabinet, and an autorotation mechanism rotates the hanging section around an axis of the hanging section in upward/downward directions of a device. In addition, a hanger unit hanging from the hanging section is installed in a cabinet, and a pair of frame sections is parallelly installed in series to match opening directions. Then, projection machines project a shot media toward the hanger unit. In addition, a loading/unloading device installed outside the cabinet is configured such that arm constituting a part thereof can be inserted into an opening section of the frame section of the hanger unit, and a tray on which a workpiece is placed can be conveyed. The loading/unloading device loads/unloads the tray with respect to the hanger unit by advancing and retracting the arm.

Abstract: Methods of making abrasive articles involve adhering shaped abrasive particles to a reinforcing member according to a predetermined pattern and optionally orientation, and depositing a space-filling binder precursor on the reinforcing member and shaped abrasive particles to provide a filled abrasive preform, disposing another reinforcing member onto the filled abrasive preform, and curing the abrasive article precursor to form the abrasive articles. In some aspects, multiple abrasive preforms are stacked on each other. Bonded abrasive wheels preparable according to the methods are also disclosed.

Abstract: A fastener staging and placement system comprising a staging member capable of temporarily attaching to structures and storing a plurality of ring type fasteners, and a placement member with a means for gripping and removing one or more fasteners to and from the staging member. The staging member comprises a removable and substantially vertically oriented dowel, configured to present a series of ordered sets of fasteners to the placement member, and an attachment means that may be removably attached to various structures. The placement member comprises two or more gripping arms that are configured to flex and exert pressure on at least one fastener thereby securing an ordered set of fasteners.

Abstract: A ratchet wrench includes a body, a ratchet wheel, a pawl, a switch unit, a ring, a top clip and a bottom clip. The body includes a through hole, a first recess, a second recess, a top recessed area and a bottom recessed area to accommodate the ratchet wheel, the pawl, the switch unit, the ring, the top clip and the bottom clip. The ratchet wheel has a first pivotal portion, a top groove, a second pivotal portion and a bottom groove. The pawl has a notch. The switch unit is pivoted to control the movement of the pawl in the first recess. The ring is located in the top recessed area and has a fourth pivotal portion connected to the first pivotal portion. The top clip and the bottom clip respectively clip two ends of the ratchet wheel to restrict the ring and the ratchet wheel.

Abstract: A power tool gear device has at least one first and one second gear stage, and a switching element which may be moved by an operator using an actuating element. The switching element at least partially surrounds at least one gear stage in at least one operating position along a circumferential direction and is configured to switch between a first and a second operating position. The switching element includes at least one first component and one second component.

Abstract: A ratchet type power wrench includes a housing, a pressure medium powered actuator, a ratchet mechanism included in the housing and coupled to the actuator, an open ended output socket with a constant cross sectional dimension throughout a length thereof, which is rotatably supported in the housing and engaged by the ratchet mechanism, and an angle encoder provided to indicate angular displacements of the output socket. The angle encoder has a form of a separate unit included in a casing, the casing being attachable to either side of the housing for connecting the angle encoder to either end of the output socket. The angle encoder includes a rotatable signal initiating part and a movement sensor rigidly mounted in the casing, the rotatable signal initiating part being provided with at least one coupling dog adapted to engage cavities located at both ends of the output socket.

Abstract: A screw holding and dispensing device includes a casing, a number of elastic members latched on an inner sidewall of the casing, and a pressing member received by the elastic member. Each elastic member carries a screw, to release a screw, an external force is applied on the pressing member, the pressing member is driven to move out of the top elastic member, the pressing member moves down and drives out the lowermost screw from the bottom elastic member, and the screw slides into a corresponding screw hole.

Abstract: Tools for installing a clip having a depressible engagement member are disclosed. In one embodiment, the tool includes a pin and a head both configured to engage the depressible engagement member. A trigger assembly is mechanically coupled to both the pin and the head. The pin is configured to actuate the trigger assembly so as to release the hear, wherein the head may actuate a counting unit so as to register a count when the pin engages the depressible engagement member, informing the installer when a clip is properly installed.

Abstract: The present invention relates in general to the field of securing structural members to masonry, and more specifically, to a drop-in anchor setting tool and method of use. The drop-in anchor setting tool includes a hands-free safety feature that allows the drop-in anchor and setting tool to remain embedded in the masonry during installation. In particular, the drop-in anchor setting tool includes a threaded portion configured to screw together the drop-in anchor and the drop-in anchor setting tool during installation. A purpose of invention is to provide a drop-in anchor setting tool and method of use that minimizes risk of injury to the operator during installation, is easy to use, and cost-effective to manufacture.

Abstract: A fastening tool assembly has a magazine body in a sleeve to convey fasteners to a housing outlet. Pivoting a lever relative to the housing, translates a knife to a loaded position, thereby disengaging from the knife, permitting a spring to return the knife to an unloaded position to drive a fastener through the outlet. A handle is pivotally connected to the housing. A roller is directly connected to the lever and the handle for permitting translation of the lever relative to the handle as the lever and the handle are pivoted relative to the housing. A spring-loaded bracket is operably connected to the magazine body for translation and rotation relative to the body. A latch is mounted to the housing to engage the bracket and maintain the magazine body in a retracted position, and is movable to a disengaged position wherein the bracket extends from the magazine body.

Abstract: A hand-held power tool which includes a shiftable transmission that is shiftable at least between a first gear and a second gear via a shifting member, in which the shifting member is coupled to a spring element, which for the gear shifting is indirectly or directly actuatable at least via a first and a second shifting element. A coupling element which is coupleable to the spring element is associated with the first shifting element, and the coupling element is configured for allowing gear shifting by actuating the first shifting element only for the case that the second shifting element is in a predefined gear shift position.

Abstract: A hand tool module having an interconnection device, which has an interface. The interconnection device has, in addition to the interface, at least one auxiliary interface, which is provided to bidirectionally exchange at least power at least with one additional hand tool module and/or a hand tool.

Abstract: An ergonometric utility handle having a main body portion having an end that fits in a cupped palm and concavities emanating from the end that lengthwise substantially conformingly receive palm sides of a thumb and at least one finger. The concavities are widely dish shaped or bound and defined by gently sloped surfaces disposed in laterally outwardly spaced relation to the utility object or a mounting element therefor and against which the thumb and finger or fingers can be positioned and pressed to control and exert useful mechanical advantage. Additional features include a cantilever element against which a finger can be pressed to enhance control and mechanical advantage, an ability to remove and reorient a utility object, such as to reverse the diagonal cut of a brush tip, and an ability to attach an extension in one or more ways.

Abstract: A paint brush and a clamping and locating device used in the same are provided. The clamping and locating device comprises a base, a handle and a lock button. The base includes a mounting surface, a handle-retaining cavity and at least one boss. The handle has a head portion being held in the handle-retaining cavity. The head portion includes at least one mounting hole, a button-receiving recess and a sliding groove. The button-receiving recess is divided into a first position and a second position. The mounting hole and the boss are axially mated together to make the handle be pivotally mounted in the handle-retaining cavity. The lock button is mounted in the button-receiving recess, and can be switched between the first position and the second position, so the handle is capable of being positioned on the first position and the second position.

Abstract: A tool protecting and organizing device for drywall installers includes a housing. The housing has a top that is open. A lid is configured to reversibly couple to the housing to close the top. A wall is coupled to the housing. The wall extends between opposing sides of the housing to define first and second compartments. The first compartment is configured to position items, such as a sanding block and a screw gun, to retain the items in the housing. A plate is coupled to and extends between the wall and a second end of the housing to define an upper chamber and a lower chamber within the second compartment. Each of a plurality of slots that is positioned through the plate is configured to insert a portion of a respective tool, such as a trowel and a mud pan, to fixedly position the tool in the housing.

Abstract: A socket holder and storage device includes a sheet of plastic with tabbed cutouts. The cutouts are generally upside down U-shaped apertures with an integrally formed cantilevered tab extending upwardly from the middle of the bottom of the aperture. The tab, which can be deflected, is sized and configured to fit in the square drive recess of a socket. The aperture is sized and shaped to receive a socket and prevent disengagement from the tab unless the tab is deflected. The sheet may be equipped with various accessories and stored in crates.

Abstract: A moving robot includes a main body, a drive assembly moving the main body, and a cleaner head performing cleaning on a cleaning area in which the main body is positioned, wherein the drive assembly includes a plurality of pulleys, a motor connected to any one of the plurality of pulleys and generating a driving force, a belt rotated in contact with the plurality of pulleys, and a support shaft connected to some of the plurality of pulleys and changing a position of the pulley such that an area in which the belt is in contact with a ground or an obstacle is maintained to be equal to or greater than a reference area.

Abstract: A robot includes a base, a body connected to the base, a pair of articulated arms rotatably connected to the body, and a moving mechanism adapted to move the body toward or away from the base. Further, a relative positional relationship with a workbench is detected by moving the body with respect to the base using the moving mechanism while keeping the articulated arms in predetermined postures while facing the workbench, and then making the articulated arms contact the workbench.

Abstract: A robot includes a motor drive power source for converting a voltage supplied from a power source to a motor drive unit-grade voltage and outputting it, a motor drive unit for converting a motor drive unit-grade voltage output from the motor drive power source to a motor drive voltage and outputting it, a motor driven to be rotated by a motor drive voltage output by the motor drive unit, a robot arm on which the motor drive unit and the motor are arranged, and a robot controller which is provided independently of the robot arm and on which the motor drive power source is arranged.

Abstract: Methods and systems are described for controlling movement and an applied force at the tip of the continuum robot that includes a plurality of independently controlled segments along its length. An estimated force at the tip of the continuum robot is determined based on measurements of loads and positions of each segment. A reference position command and a force command are received from a user interface. The reference position command indicates a desired movement for the distal end of the continuum robot and the force command indicates a desired force to be applied by the tip of the continuum robot to a tissue surface. The position of the continuum robot is adjusted to cause the tip of the continuum robot to apply the desired force to the tissue surface based on the estimated force at the tip of the continuum robot, the reference position command, and the force command.

Abstract: A robot control system includes an operation control unit, a learning control processing unit and a storage unit. Whenever the operation control unit performs a single learning control, the learning control processing unit stores the number of learning controls, which indicates how many learning controls have been performed, and obtained time-series vibration data in correspondence with each other in the storage unit. The learning control processing unit calculates a convergence determination value to determine whether or not a vibration of a certain portion of a robot converges based on the time-series vibration data at each number of learning controls stored in the storage unit, and determines the number of learning controls having a minimum convergence determination value, out of the calculated convergence determination values, as the optimal number of learning controls.

Abstract: A locomotive control system may include first and second robotic machines and a task manager. The first and second robotic machines have respective first and second sets of capabilities for interacting with a surrounding environment. The task manager selects the first and second robotic machines from a group to perform a task based on the first and second sets of capabilities of the robotic machines. The task involves manipulating and/or inspecting a target object of a vehicle. The task manager assigns a first sequence of sub-tasks to be performed by the first robotic machine and a second sequence of sub-tasks to be performed by the second robotic machine. The first and second robotic machines are configured to coordinate performance of the first sequence of sub-tasks by the first robotic machine with performance of the second sequence of sub-tasks by the second robotic machine to accomplish the task.

Abstract: A method for handling an object comprises the steps: a) connecting the object (1) with a manipulator (5) and with an input tool (7) by means of which a direction ({right arrow over (d)}?) within an internal coordinate system (K?) relating to the input tool (7) can be entered, d) initiating a test movement of the manipulator (5) on the basis of a direction ({right arrow over (r)}) known in the external coordinate system (K); e) determining the direction ({right arrow over (r)}?) of a movement of the input tool (7) in the internal coordinate system (K?) resulting from the test movement of the manipulator (5); f) determining a coordinate transformation (T) which transforms the direction of the resulting movement ({right arrow over (r)}?) in the internal coordinate system into the known direction ({right arrow over (r)}) in the external coordinate system; g) detecting an internal direction ({right arrow over (d)}?) within the internal coordinate system (K?) entered by a user using the input tool (7); h) applying