| 摘要 |
<p>The method involves determining position of an operating point (1.3) and determining whether the position of the operating point lies within a given process area (3) or not. The forces applied in the operating point of the manipulator are reduced, if the position of the operating point does not lies within given process area. Independent claims are included for the following: (1) a control equipment for a manipulator, particularly a robot; and (2) a manipulator, particularly a robot.</p> |
