| 摘要 |
<p>The present invention relates to a method and a device for controlling the movement of a robot arm (3) in a milking robot (1). For each axis of movement of the robot arm (3), a maximum permitted rate of operational movement and/or maximum positional rate of movement is stored in a memory (8', 8''). The demanded movement of the robot arm (3) is compared against the maximum permitted rate of operational movement and/or the maximum positional rate of movement and the robot arm (3) is moved at a rate of movement corresponding to the lowest of the demanded rate or the maximum permitted rate.</p> |
