Abstract: An exemplary robot is disclosed with at least one turnable member wherein a free end of the member is moveable along a programmable path. A force or pressure or contact effect detector is included on an interaction point on the free end of the free member so that signals corresponding to the force or pressure or contact effect are producible. Control of the robot movement is performed according to the programmable path and according to predicted demands in the case of detection. In case of detection, the control will be carried out such that the robot movement is temporarily stopped, slowed down or not stopped and a temporary change of the programmable movement path can be determined in consideration of the produced signals. A homing method for controlling the robot is also disclosed.

Abstract: An exemplary robot is disclosed with at least one turnable member wherein a free end of the member is moveable along a programmable path. A force or pressure or contact effect detector is included on an interaction point on the free end of the free member so that signals corresponding to the force or pressure or contact effect are producible. Control of the robot movement is performed according to the programmable path and according to predicted demands in the case of detection. In case of detection, the control will be carried out such that the robot movement is temporarily stopped, slowed down or not stopped and a temporary change of the programmable movement path can be determined in consideration of the produced signals. A homing method for controlling the robot is also disclosed.