| 摘要 |
The invention relates to a method, a control system (1) and a movement presetting means (3) for programming or presetting movements or processes by an industrial robot (2), wherein, via manually operated movement presetting means (3) with an integrated and/or external sensor system (8; 9) for determining the orientation and if need be the position of the manually operated movement presetting means (3) in space, the control system (1) calculates and generates at least some of the data for the movement control or process programming for the industrial robot (2). The orientation of the movement presetting means (3) in space, as determined by the control system (1), is compared with a predefined comparison orientation (15), which is stored in the control system (1) or can be retrieved by the control system (1), in respect of temporal and/or movement-dependent criteria and/or at the sporadic request of the operator and corresponding command input by the operator. In addition, the operator is provided with signals indicating the extent of any discrepancy between the determined orientation of the movement presetting means (3) and the comparison orientation (15), and/or whether a discrepancy between the determined orientation of the movement presetting means (3) and the comparison orientation (15) exceeds and/or remains within predetermined limits. |
