Robot and method for operating a robot

摘要

The invention relates to a method for operating a robot (R), and a correspondingly set-up robot. The robot (R) has a robot arm (M) having a plurality of members (1) following sequentially, an attaching device (3) for attaching an end effector (4, 46), and drives for moving the members (1), and a control device (S) connected to the drives. Stored in the control device (S) is a hierarchical regulating and control strategy having a plurality of differently prioritized regulating and control functionalities, and the method has the following process step: during the movement of the robot arm (M), switching over to a higher-prioritized regulating and control functionality, as soon as stable movement of the robot arm (M) by means of the higher-prioritized regulating and control functionality is possible, and an execution condition independent of the higher-prioritized regulating and control functionality is fulfilled.

主权项

1. A method of operating a robot including a robot arm controlled by a control device, the robot arm comprising a plurality of sequentially arranged links, an attaching device for attaching an end effector, and drives for moving the links, the control device having a hierarchical control strategy that includes a plurality of differently-prioritized control functionalities, the method comprising:
operating the robot arm in a first control functionality, and not in a second, higher-prioritized control functionality; determining when an execution condition that is independent of the second, higher-prioritized control functionality exists; when the execution condition exists, switching control from the first control functionality to the second, higher-prioritized control functionality during movement of the robot arm when stable movement of the robot arm is possible with the second control functionality; wherein the plurality of control functionalities includes control functionalities for moving the robot arm in at least two degrees of freedom, and wherein the control functionalities for movement of the robot arm in one of the at least two degrees of freedom are independent of control functionalities for moving the robot arm in the other of the at least two degrees of freedom, the method further comprising: switching between control functionalities for movement of the robot arm in one of the at least two degrees of freedom independently of switching between control functionalities for moving the robot arm in the other of the at least two degrees of freedom; determining when at least one of the following events occurs:
a) the execution condition no longer exists, orb) stable movement of the robot arm no longer being possible using the higher-prioritized control functionality; and switching from the second, higher-prioritized control functionality to a lower-prioritized control functionality during the movement of the robot arm if at least one of the events occurs.