摘要 |
Industrial robot system comprising a plurality of robot system parts (1, 2, 3), namely robots, external axes or parts thereof, and a control system including at least one control unit arranged to realize the movements of each robot system part (1, 2, 3) in accordance with at least one computer program. A first robot system part (1) has a first spatially defined point (A) and a second robot part (2, 3) has a second spatially defined point (B, C). Said at least one computer program comprises program instructions including movement instructions (5) to move the first spatially defined point (A) along a predefined path, and at least one computer program comprises program instructions (6) to maintain the position of the second spatially defined point (B, C) relative to the position of the first spatially defined point (A) during movement. |