| 摘要 |
The invention relates to a robot (1) having a robot control (10) which is designed and configured to execute a robot program, and having a robot arm (2) having at least three joints (J1-J6) connected by limbs (L1-L8), and having a number of drives (M1-M6) corresponding to the at least three joints (J1-J6), of which each drive (M1-M6) is designed to adjust one joint (J1-J6) of the at least three joints (J1-J6) allocated thereto and is drivable according to the robot program, automatically or in a manual travel mode, by the robot control (10) in order to automatically adjust the allocated joint (J1-J6), wherein at least one of the joints (L1-L8) has a force measurement device (14) which is designed to measure a force on the limb (L1-L8) in a specified direction. |
