Abstract: A speech dialog system includes a speech application manager, a message router, service components, and a platform abstraction layer. When a speech command is detected, the speech application manager instructs one or more service components to perform a service. The message router facilitates data exchange between the speech application manager and the service components. The message router includes a generic communication format that may be adapted to a communication format of an application. The platform abstraction layer facilitates platform independent communication between the speech dialog system and one or more target systems.

Abstract: Beginning with a successive commanded end-effector destination shift, the method of the invention, which includes a calculation corresponding to a special algorithm of inverse kinematics using the Jacobi Matrix in the control of a manipulator, effects an optimization of weighted criteria (energy criteria, acceleration criteria and reference-position criteria) in a real-time cycle while reliably maintaining all path limitations and resulting in an optimized acceleration behavior. The method of the invention can be used in interactive path guidance of a manipulator and/or as a modular component of a superordinate task, such as for force-control objectives.