| 摘要 |
A method according to the invention for stopping a manipulator (1) includes these steps: advance simulation of stopping distances for different states (q, dq/dt, L) and/or braking force profiles (τ) of the manipulator (S10), estimating of an upper limit as the stopping distance (smax) on the basis of the stopping distances simulated in advance (S120), monitoring a zone (A0; A1; A2), and decelerating the manipulator (1) when a zone is violated, wherein the monitored zone is defined variably (S130) during operation on the basis of the stopping distance (smax) of the manipulator.
|
