Method and control means for controlling a robot

摘要

According to a method according to the invention for controlling a robot, in particular a human-collaborating robot, a robot- or task-specific redundancy of the robot is resolved, wherein, in order to resolve the redundancy, a pose-dependent inertia variable of the robot is minimized.

主权项

1. A method for controlling a robot having a plurality of successive links driven by motors actuated by a controller, wherein a robot-specific or task-specific redundancy of the robot is resolved, the method comprising:
minimizing a pose-dependent inertia variable of the robot in the controller for resolution of the redundancy; and
operating the robot with the controller at a speed that is higher than the operating speed of the robot prior to resolving the redundancy, oroperating the robot with the controller in a pose selected to reduce the consequences of a collision and at a speed that is equal to or higher than the operating speed of the robot prior to resolving the redundancy.