Industrial robot and method for programming an industrial robot

摘要

The method involves manually moving an industrial robot (R) along a space curve, which runs along proximity of a surface of an object (19). Force caused due to contact with the object and the torque caused due to contact with the object during manual movement are measured. The robot movement during manual movement along the curve is corrected automatically so that the force is equal to a predetermined maximum force, and the torque is equal to a predetermined torque. Position-actual-values of the robot during movement along curved are stored. An independent claim is also included for an industrial robot.