Abstract: A control unit to ascertain one or more parameters of a control program and/or of a control system for a robot manipulator, wherein the control unit includes: an interactive operating unit to display a first adjustment element and a specified region for the first adjustment element, wherein the first adjustment element is moveable within the specified region via an input of a user, the interactive operating unit further to detect a user-specified position of the first adjustment element and transmit the user-specified position; and a computing unit to receive the user-specified position and ascertain weightings for a specified cost function as a function of the position, wherein a sum of the weightings is constant for all positions of the adjustment element, the computing unit further to ascertain the parameters of the control program and/or of the control system for the robot manipulator based on the cost function.

Abstract: A gripping device for a robot for gripping objects, including at least two gripping units each having a gripping finger and being transferable by a controlled movement between a release position and a gripping position gripping an object, the gripping units each having gripper elements which, in the gripping position, can be brought into contact with the object to be gripped, in which the gripper elements are rotatably mounted on the gripping fingers of the gripping device.

Abstract: A method of generating a control program, wherein the method includes: executing an application by the first robot manipulator, at the same time, determining trajectory data and/or wrench data, determining robot commands from a stored time series, the robot commands being principal elements of the control program for the robot manipulator without relation to design conditions of a first robot manipulator, and generating the control program for a second robot manipulator based on the stored robot commands and based on the design conditions of the second robot manipulator.

Abstract: The invention relates to an armor unit to construct armor layers of mound breakwaters, revetments and groins for shore protection or hydraulic and maritime structures featuring a cubic or parallelepiped shape (2) and having one or more protrusions (1) on its faces to prevent coupling between the different armor units and to increase interlocking with the underlayer (3) of the armor layer.

Abstract: The invention relates to an armor unit to construct armor layers of mound breakwaters, revetments and groins for shore protection or hydraulic and maritime structures featuring a cubic or parallelepiped shape (2) and having one or more protrusions (1) on its faces to prevent coupling between the different armor units and to increase interlocking with the underlayer (3) of the armor layer.

Abstract: In a pilot light igniter for a burner, an inner tube for receiving fuel gas is concentrically positioned within an outer tube for receiving air in the annular space between the inner tube and the outer tube. Apertures are formed in the inner tube to impart angular momentum to the fuel gas as it flows from the inner tube into the annular space so that the mixture of air and gas swirls as it flows to the open distal end of the outer tube. A spark disk is provided on the end of the inner tube and a flame rod extends axially from the spark disk. The air and fuel mixture is ignited by a spark produced by high voltage applied between the spark disk and the outer tube. A low voltage source applied between the flame rod and the outer tube causing current pulses provides an indication of the presence of a flame.