| 摘要 |
A process is provided for controlling a robotal device, such as a multiaxial industrial robot, by a control unit, with a control core for executing control processes for the robotal device. An interface function checks whether models and/or procedures optionally contained in the control core or additional models and/or transformation procedures and/or special algorithms of kinematic structures, which can be preset at the interface are used as model modules for motion-relevant variables of the robotal device. Special and third-party kinematics can thus also be operated with a control device suitable for executing the process without the control itself having to be modified.
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