Abstract: A torque sensor (10), in particular for detecting torques occurring on or in a joint of an articulated-arm robot. The sensor has several measuring spokes (1, 2, 3, 4) that are designed to deform under the effects of torque; and several strain gauges (DR11, DR12, DR21, DR22, DR31, DR32, DR41, DR42), with two strain gauges being arranged on two opposite sides of the several measuring spokes (1, 2, 3, 4). The several strain gauges are each connected in one of at least two bridge circuits (A, B). The at least two bridge circuits (A, B) are each configured to generate a bridge voltage (Ua, Ub). By detecting and comparing differences in the bridge voltage signals (U2, Ub) generated by the at least two bridge circuits (A, B); a reliability of the detected bridge voltage signals is determined.

Abstract: A modular low-floor transport system comprises at least one drive module and at least one carrier module. The drive module includes a drive base and a drive chassis connected to the drive base. The drive chassis includes at least one driven wheel coupled to a drive. The carrier module includes a carrier base and a carrier chassis connected to the carrier base. The carrier chassis includes at least one non-driven carrier wheel. The drive base and the carrier base are rigidly connected to each other with respect to a stroke direction, and the drive chassis is movably mounted in the stroke direction to the drive base.

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 a method and a system for controlling a robot, which has at least one redundant degree of freedom. The method according to the invention prevents the robot from colliding with its surrounding environment and/or from getting into an inconvenient position as a result of its redundancy, and does so without causing any disadvantageous displacement of the tool center point.

Abstract: According to a method according to the invention for operating an additional tool axis (Z) of a tool (2) guided by a manipulator, in particular a robot (1), a position and/or an orientation of the tool in space are defined by axis positions (q1-q6) of the manipulator axes and a position value (f) of the tool axis, are saved and/or displayed, with an automatic conversion being carried out between the position value (f) and an axis position (e) of the tool axis which brings it about.

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: According to a method according to the invention for controlling a robot, in particular a human-collaborating robot, a robot- or task-specific redundancy of the robot is resolved, wherein, in order to resolve the redundancy, a pose-dependent inertia variable of the robot is minimized.

Abstract: The invention concerns a method of programming an industrial robot, exhibiting the steps of selecting a program command, the assigned rigidity parameter of which is to be verified, changed and/or saved in the program mode; moving the manipulator arm into a test pose, in which the industrial robot is configured and/or arranged to manually touch and/or move the manipulator arm; and the automatic actuation of the manipulator arm by the control device such that the manipulator arm in the test pose exhibits the rigidity corresponding to the assigned rigidity parameter of the selected program command. The invention further concerns an industrial robot, exhibiting a control device designed and/or configured to execute such a method.

Abstract: The invention relates to a robot and a method for controlling a robot. The distance between an object and the robot and/or the derivative thereof or a first motion of the object is detected by means of a non-contact distance sensor arranged in or on a robot arm of the robot and/or on or in an end effector fastened on the robot arm. The robot arm is moved based on the first motion detected by means of the distance sensor, a target force or a target torque to be applied by the robot is determined based on the distance detected between the object and the robot, and/or a function of the robot or a parameterization of a function of the robot is triggered based on the first motion detected and/or a target distance between the object and the robot and/or the derivative thereof detected by means of the distance sensor.

Abstract: Methods and apparatus for adjusting and controlling a robotic manipulator based on a dynamic manipulator model. A model for gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and accelerations, and on a motor temperature on the drive side of one of the motors that is associated with the axis. The model is used to determine target values, such as motor position or current. The gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature.

Abstract: A system for controlling an industrial robot includes an industrial robot and a control apparatus. The control apparatus includes a multi-core processor having at least one first processor core and at least one second processor core. An operating system, which is configured to be executed by the multi-core processor, is configured to assign hard real-time tasks to the at least one first processor core and assign other tasks to the at least one second processor core. The hard real-time tasks control at least a component of the industrial robot.

Abstract: The invention relates to an automated guided vehicle, a system having a computer and an automated guided vehicle, and a method for operating an automated guided vehicle. The automated guided vehicle is to travel along track sections automatically from a start point to an end point.

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: A method for controlling a robot includes monitoring the robot, and carrying out a fault reaction, selected from a number of specified fault reactions, on the basis of the monitoring of the robot, wherein the fault reaction is selected on the basis of a monitoring of an operational capability and/or an output variable of at least one motor of the robot.

Abstract: The invention relates to an automated guided vehicle, a system with a computer and an automated guided vehicle, a method of planning a virtual track and a method of operating an automated guided vehicle. The automated guided vehicle is to move automatically along a virtual track within an environment from a start point to an end point. The environment comprises sections connecting the start point the end point, and the intermediate point. A graph is assigned to the environment.

Abstract: A method for programming an industrial robot includes moving a manipulator arm of the industrial robot manually (hand guided) into at least one pose in which at least one control variable, which is to be entered in a robot program, is recorded by a control device of the industrial robot and is saved as a parameter of an associated program instruction in the robot program. In another aspect, an industrial robot includes a robot control unit which is designed and/or configured to carry out such a method.

Abstract: A method for controlling a robot that has a plurality of articulation axes, with at least one axis that includes a drive mechanism for moving the axis and a holding brake for limiting movement of the axis. The method includes closing the holding brake and at least one of opening the holding brake after the closing step based on an axial load, or opening the holding brake for a specified duration. In addition, or alternatively, closing of the holding brake may be delayed for a period of time. The holding brake may be closed in response to the detection of a monitoring-related condition of the robot.

Abstract: An industrial robot includes a robot arm having multiple connecting links connected by joints, wherein at least two adjacent connecting links are connected by a swivel joint and can be adjusted by a motor. A mechanical stop device defines a maximum rotatable adjustment angle between the adjacent links and includes a stop projection connected to one of the two adjacent connecting links, an engaging piece connected to the other one of the two adjacent connecting links, and a trailing stop which can be adjusted by the engaging piece. The trailing stop comprises a trailing stop body and an annular body which is connected with the trailing stop body and which is pivoted in an annular groove in an inner wall of a housing component of one of the two adjacent connecting links.

Abstract: A method for manually guided adjustment of the pose of a manipulator arm of an industrial robot includes detecting a guidance force applied to the manipulator arm by an operator of the industrial robot, determining one of at least two degrees-of-freedom of a reference coordinate system as a selected freedom direction, wherein the selected freedom direction corresponds to the degree-of-freedom in which the guidance force has its greatest force vector component, and controlling the drives of the industrial robot using force control in such a manner that a pre-specified reference point associated with the manipulator arm is moved only in the selected freedom direction as a result of movement of the manipulator arm by an operator during a manually-guided adjustment of the pose of the manipulator arm.