Abstract: Workflow charts for processing (e.g., treating, machining) a workpiece with a tool of an industrial robot are automatically generated. An initial chart has a plurality of tool paths for a workpiece in a defined target position and for defined process parameters. The tool path determines the desired movement of the tool along the workpiece. A state space describing variable parameter values that impact the workpiece processing are defined. Each point in the space represents a concrete combination of possible parameter values. The space is discretized into individual states. The processing of the workpiece is simulated using the initial chart for one or several discrete states and the simulated process results are evaluated according to a pre-definable criterion. The initial chart is iteratively modified, subsequently workpiece processing is simulated using the modified chart for at least one discrete state, and the simulated processing results are evaluated with a pre-definable cost function.

Abstract: A method for the automated control of a process robot with a controller performing movement and work sequences and with one or more sensors that record a work progress. A planning tool compares a recorded progress of work with an aimed-for processing objective and determines, from a difference between the processing objective and an actual value of the process that corresponds to the recorded progress of work, movement and work sequences with which the aimed-for processing objective is achieved. Then the determined movement and work sequences are converted into robot-executable control commands in real time or in-step with the process, and the process robot is controlled in such a way as to achieve the aimed-for processing objective.