Method and device for controlling a manipulator assembly

摘要

The method involves performing virtual target process for a manipulator (S10). Actual process of the manipulator arranged on a base is executed (S30). Actual process (P) of the manipulator is monitored (S40). The virtual target process is controlled. A workpiece is coupled with the manipulator. Trajectory planning and/or a kinematic transformation of the workpiece are monitored. An independent claim is also included for a computer program comprising a set of instructions for controlling a manipulator assembly.