Method for controlling the action of a robotic arm and robotic arm using that method

摘要

Method for controlling the action of a robotic arm which comprises the following stages: a) moving the robotic arm by means of an action programmed in a controller; b) measuring the force which the robotic arm applies at specific points in the movement in stage a); c) comparing the force applied at each of the points in stage b) with force profile data stored in the controller; d) as a result of the comparison in paragraph c), generating an alarm signal if the force measured in stage b) is outside the limits defined in the force profile and carrying out stage a) if the force measured in stage b) is within the limits defined in the force profile.