Method for reproducing operating state of six-axle articulated robot for handling e.g. workpieces, involves feeding back parameters of kinematic model of moving device in reference situation during exceeding deviation threshold value

摘要

The method involves initial determining and storing parameter situations e.g. axle zero position situations, as reference situations. The parameter situations are redetermined. A real or virtual fixed reference point (4) is determined by a tool in tool orientations and/or axle configurations. Axle coordinates are detected for each orientation and/or configuration. The determined parameter situations are compared. Parameters of a kinematic model of a multi-axle moving device are fedback in a reference situation during exceeding a deviation threshold value. An independent claim is also included for a device for recovery of an operating state of a multi-axle moving device.