Abstract: The invention relates to a method for controlling a group of robots, comprising a leading robot (10) and at least one following robot (20, 30), which cooperates with the leading robot and moves in accordance with the leading robot, wherein the absolute velocity (v10) of the leading robot and/or the absolute velocity (v20abs) of the following robot is reduced on the basis of a specified limit (vmax) such that a mutual relative velocity (V20rel) is not exceeded and therefore a safety function is not triggered.

Abstract: A method for moving along a predetermined path with a robot in an at least a partially automated manner includes determining a deployment position on a current path section of the predetermined path for which a distance parameter satisfies a predetermined condition, and moving to the deployment position with the robot. In one aspect, the robot may be moved to the deployment position if a deployment condition is satisfied. The distance parameter may be determined on the basis of a distance of a current position of the robot relative to the current path section. The predetermined condition may be that the distance parameter has a value that is less than or equal to the values of the distance parameter of all positions in a partial area of the current path section, which is in particular complementary to the deployment position.

Abstract: An inventive programming means for programming a movement of a robot axis arrangement and a movement of at least one further robot axis arrangement is adapted to synchronize the pair of positions of the movement of the robot axis arrangement and the pairs of positions of the movement of at least one more robot axis arrangement, and while maintaining this synchronization, to specify at least another position between either one of these pairs of positions, which is not synchronized with another position of the hereby synchronized pair of positions.

Abstract: A controllable machine comprises a mechanism having at least two components arranged relative to one another and movable relative to one another with respect to an axis by at least one drive, a memory, and a control device coupled to the at least one drive. The control device controls the at least one drive to move the mechanism in a first operating mode such that the mechanism moves along a movement path and records the movement path in the memory. The control device controls the at least one drive on the basis of the movement path recorded in the memory in a second operating mode such that the mechanism moves along the movement path recorded in the memory.

Abstract: A method for error recognition in a control system of a medical treatment and/or diagnosis device includes processing, by the control system, data in a regular operating mode and supplying, by the control system, test data of a test data record to a safety-critical component of the control system in a test mode of the control system. The safety-critical component of the control system is also checked in the test mode of the control system.

Abstract: A method in accordance with the invention for modification of a robot path which has a plurality of path points comprises the following steps of specifying a modification region which has at least two path points of the robot path, specifying a modification of a reference point of the modification region, and automated modification of the modification region, in particular of path points of the modification region, on the basis of the specified modification.

Abstract: A method for designating and/or controlling a manipulator process for a manipulator configuration having at least one manipulator, in particular, an industrial robot, wherein the manipulator process includes a given oriented manipulator path for the manipulator configuration. The method includes designating or executing at least one action by the manipulator configuration, in particular, differently, in response to a reverse movement running counter to the oriented manipulator path, and/or a return movement running in the same direction as the oriented manipulator path.

Abstract: A method for fixing the position at least one axis of a manipulator, in particular of a robot, includes closuring a mechanical brake of the axis, deactivating an actuator of the axis with a motion controller, monitoring the mechanical brake, and activating the actuator with the motion controller if a monitoring system identifies a fault condition of the mechanical brake.

Abstract: The invention relates to a method for testing the plausibility of output signals (u1, u2) of a resolver (21), by means of which an angular position of two elements (3-7) of a machine (R) can be determined in relation to each other.

Abstract: A method in accordance with the invention for modification of a robot path which has a plurality of path points comprises the following steps of specificying a modification region which has at least two path points of the robot path, specifying a modification of a reference point of the modification region, and automated modification of the modification region, in particular of path points of the modification region, on the basis of the specified modification.

Abstract: A method for fixing the position at least one axis of a manipulator, in particular of a robot, includes closuring a mechanical brake of the axis, deactivating an actuator of the axis with a motion controller, monitoring the mechanical brake, and activating the actuator with the motion controller if a monitoring system identifies a fault condition of the mechanical brake.

Abstract: The invention relates to a method for testing the plausibility of output signals (u1, u2) of a resolver (21), by means of which an angular position of two elements (3-7) of a machine (R) can be determined in relation to each other.

Abstract: An inventive programming means for programming a movement of a robot axis arrangement and a movement of at least one further robot axis arrangement is adapted to synchronize the pair of positions (q1—0; q1—4) of the movement of the robot axis arrangement and the pairs of positions (q2—0, q3—0; q2—5, q3—3) of the movement of at least one more robot axis arrangement, and while maintaining this synchronization, to specify at least another position (q1—2, q2—2, q2—4) between either one of these pairs of positions, which is not synchronized with another position of the hereby synchronized pair of positions.

Abstract: A method for stopping a manipulator includes the steps of advance simulation of stopping distances for different states and/or braking force profiles of the manipulator, estimating of an upper limit as the stopping distance on the basis of the stopping distances simulated in advance, monitoring a zone, and decelerating the manipulator when a zone is violated, wherein the monitored zone is defined variably during operation on the basis of the stopping distance of the manipulator.

Abstract: According to a method according to the invention for designating and/or controlling a manipulator process for a manipulator configuration (1, 2, 3) having at least one manipulator, in particular, an industrial robot, wherein the manipulator process exhibits a given oriented manipulator track for the manipulator configuration, at least one action by the manipulator configuration can be designated, or shall be executed, respectively, in particular, differently, in relation to a reverse movement running counter to the oriented manipulator track, and/or a return movement running in the same direction as the oriented manipulator track.

Abstract: The invention relates to an industrial robot (1) having a control apparatus (8), and to a method for controlling the movement of the industrial robot (1). For the purposes of the method, an instruction which is intended for controlling the industrial robot (1) is checked, an interpreted instruction is produced by interpretation of the checked instruction by means of an interpreter (13), and the interpreted instruction is stored in a temporary store (10). This process is repeated until a first keyword is detected. A data record (15) is then produced from the interpreted instructions stored in the temporary store (10), wherein the data record (15) has information relating to at least one path element of a path on which the industrial robot (1) is intended to be moved. The data record (15) is loaded into a buffer store (11), is checked by the buffer store (11) and is interpolated by means of an interpolator (14), in order to move the industrial robot (1) on the path element.

Abstract: A method for regulation of a multi-axis automated manipulator, in particular of a robot, includes flexible regulation of at least one guide axis, and rigid regulation of at least one additional axis, and determining a desired value of the at least one additional axis on the basis of a real value of the guide axis.

Abstract: 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 (?) 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.

Abstract: A method for error recognition in a control system of a medical treatment and/or diagnosis device includes processing, by the control system, data in a regular operating mode and supplying, by the control system, test data of a test data record to a safety-critical component of the control system in a test mode of the control system. The safety-critical component of the control system is also checked in the test mode of the control system.

Abstract: The invention relates to an industrial robot (1) having a control apparatus (8), and to a method for controlling the movement of the industrial robot (1). For the purposes of the method, an instruction which is intended for controlling the industrial robot (1) is checked, an interpreted instruction is produced by interpretation of the checked instruction by means of an interpreter (13), and the interpreted instruction is stored in a temporary store (10). This process is repeated until a first keyword is detected. A data record (15) is then produced from the interpreted instructions stored in the temporary store (10), wherein the data record (15) has information relating to at least one path element of a path on which the industrial robot (1) is intended to be moved. The data record (15) is loaded into a buffer store (11), is checked by the buffer store (11) and is interpolated by means of an interpolator (14), in order to move the industrial robot (1) on the path element.