| 摘要 |
In a method for the offline programming of an NC-controlled manipulator which follows at least one real trajectory, possibly in a sensor-supported manner, with tool center point thereof in the real working mode, a kinematic manipulator model and, possibly, an environmental model are stored in an offline programming environment with user interface, at least one virtual trajectory of the manipulator and a virtual tolerance zone assigned to said trajectory are defined using the offline programming environment in a definition routine, and the offline programming environment is used to check, in a check routine, the previously defined tolerance zone at least in part in terms of kinematic singularities of the manipulator, the occurrence of which prompts a singularity routine to be executed.
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