Method for controlling or regulating robot with braking- or holding device impinged by spring force, involves controlling or impinging coil of braking- or holding device of robot by drive voltage

摘要

The method involves controlling or impinging a coil of a braking- or retention device of a robot by a control voltage (AS) during an opening operation of the braking- or retention device. The control voltage is reduced after opening or deactivating the braking- or holding device. A force, produced by a magnetic field of the coil, is kept larger than a spring force for opening or deactivating the braking- or holding device. An independent claim is also included for an apparatus for controlling or regulating a robot by using a spring force.