Abstract: The invention relates to a robot manipulator, wherein a braking device arranged on at least one of the joints of the manipulator is activated by a control unit in order to generate such a residual torque that a maximum torque is not exceeded at the joint, and the residual torque is determined on the basis of sensor determination and/or estimation of the torque currently present at the joint, wherein the estimation is based on a measure, multiplied by a first predefined factor, of a gravitational influence acting on the at least one of the joints, or is based on a dynamic model of the robot manipulator, the dynamic model having the gravitational influence, wherein the control unit determines the gravitational influence on the basis of a joint angle vector with joint angles between the at least one of the joints and a distal end of the robot manipulator.

Abstract: A device to detect medical status of a person, including a robot manipulator to receive and handle effectors, each effector enabling a selected activity; a first unit to determine a current state ZRM(t) of the robot manipulator and a current state of an effector; a second unit to determine a current position LKT,AKTk(t) of a person's body part related to the selected activity in a working region of the robot manipulator; a third unit to determine a wrench KW(t) acting on the robot manipulator; a fourth unit to specify target data and permissible deviations for the selected activity; and a control unit to control the robot manipulator upon specification of the selected activity as a function of: ZRM(t), LKT,AKTk(t), KW(t), target data, and permissible deviations, such that when a permissible deviation is exceeded, the robot manipulator and the effector are placed into a safe state based on the selected activity.

Abstract: A device and method for monitoring a motion of a robot manipulator, including operations of: defining a forbidden position for the robot manipulator, defining a curve running along the robot manipulator with a one-dimensional running coordinate s, wherein at least a subset of all locations of the curve is moved together with a current pose of the robot manipulator, and determining a distance d between a location of a current curve and/or a predicted curve and the forbidden position.

Abstract: A method for controlling a braking device for a drive unit of a joint between two members of a multi-axis robot arm of an articulated arm robot including a brake activation device and a locking element, wherein the drive unit includes a rotor with at least two radial brake elements, wherein the brake elements are rotated such that the locking element is always exposed. Further described is a method for determining the positions of the radial brake elements.

Abstract: A method for controlling a braking device for a drive unit of a joint between two members of a multi-axis robot arm of an articulated arm robot including a brake activation device and a locking element, wherein the drive unit includes a rotor with at least two radial brake elements and the brake activation device is formed, bringing the locking element into engagement with a brake element when required in order to stop rotation of the rotor, wherein a detected position of at least one brake element is compared with a stored absolute position with respect to this brake element.