| 主权项 |
1. A method for controlling a hand-guided multi-axle manipulator, in particular an articulated-arm robot, the axes of which are equipped with torque sensors to register the torques acting on the axes, wherein the manipulator has at least one redundant degree of freedom, and wherein the manipulator has a tool center point, which includes the following method steps:
defining, for at least one of a plurality of joints of the manipulator, a range in which the joint of the manipulator can move freely according to the overall movement of the manipulator; guiding of the tool center point of the manipulator by hand; determining whether the joint has reached a limit of the range defined for the joint; and adjusting of the movement of the manipulator in response to the determination that the joint has reached the limit of the range defined for the joint, so that a movement of the joint through the limit is counteracted, without the tool center point of the robot being displaced as a result of the counteraction. |
