| 摘要 |
The invention relates to a robot (R, 70) and to a method for controlling a robot (R, 70). The distance (d) between an object (P) and the robot (R, 70) and/or the derivative thereof or a first motion of the object (P) is detected by means of a non-contact distance sensor (20, 20′) arranged in or on a robot arm (M) of the robot (R, 70) and/or on or in an end effector (19′) fastened on the robot arm (M). The robot arm (M) is moved based on the first motion detected by means of the distance sensor (20, 20′), a target force or a target torque to be applied by the robot (R) is determined based on the distance (d) detected between the object (P) and the robot (R), and/or a function of the robot (R) or a parameterization of a function of the robot (R) is triggered based on the first motion detected and/or a target distance between the object (P) and the robot (R) and/or the derivative thereof detected by means of the distance sensor (20, 20′).
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