Method and device for controlling a manipulator

摘要

The method involves determining (S20) target path of a manipulator, and determining (S70) motion values for target path. A path segment with a defined profile of a motion value is determined (S50) optionally. A motion value of the manipulator including velocity, acceleration and/or higher time derivative of a reference point or reference system and/or axis of motion of the manipulator is determined (S60) automatically, based on the motion values permissible in determined path segment. Independent claims are included for the following: (1) device for controlling manipulator; and (2) computer program product for controlling manipulator.