Abstract: A method for determining values influencing movement of a robot is disclosed. The method includes the following steps: a) provision of a task to be performed by the robot and a worker; b) provision of a layout of a workstation; c) provision of tool data; d) determination of respective axial movement patterns of the robot on the basis of steps a) to c); e) provision of a worker workspace; f) determination of critical path points of the robot, where a specified movement speed is exceeded by the robot and/or a specified mass of an element to be moved by the robot is exceeded, on the basis of the axial movement patterns and the workspace; g) simulation of respective collisions at the critical path points by a second robot; and h) determination of permissible operating speeds of the robot for each critical path point on the basis of the simulated collisions.

Abstract: A method for controlling a manipulator includes determining by a control device one or more contact force values between the manipulator and a first workpiece. Each of the contact force values is based on an actual driving force of the manipulator and a drive force according to a dynamic model of the manipulator. The method also includes at least one of a) measuring in multiple stages an orientation and location of the first workpiece based on at least one of the one or more determined contact force values or b) joining a second workpiece and the first workpiece under a compliant regulation, where a joining state of the first and second workpieces is monitored based on at least one of an end pose of the manipulator obtained under the compliant regulation, a speed of a temporal change of the manipulator, or at least one of the one or more determined contact force values.

Abstract: A human-robot cooperation (HRC) workstation has a programmable industrial robot (4) and a manual working area (14) for a worker (5) in a region surrounding the industrial robot (4). In the HRC workstation (1), the working areas of the industrial robot (4) and the worker (5) overlap. Contact between the worker (5) and the industrial robot (4) is possible. The workstation (1) is divided into a plurality of different zones (17, 18, 19, 20) having differently high levels of risk of hazard from the industrial robot (4) for the worker (5). The industrial robot (4) is suitable for human-robot cooperation.

Abstract: A method for determining values influencing movement of a robot is disclosed. The method includes the following steps: a) provision of a task to be performed by the robot and a worker; b) provision of a layout of a workstation; c) provision of tool data; d) determination of respective axial movement patterns of the robot on the basis of steps a) to c); e) provision of a worker workspace; f) determination of critical path points of the robot, where a specified movement speed is exceeded by the robot and/or a specified mass of an element to be moved by the robot is exceeded, on the basis of the axial movement patterns and the workspace; g) simulation of respective collisions at the critical path points by a second robot; and h) determination of permissible operating speeds of the robot for each critical path point on the basis of the simulated collisions.

Abstract: A human-robot cooperation (HRC) workstation has a programmable industrial robot (4) and a manual working area (14) for a worker (5) in a region surrounding the industrial robot (4). In the HRC workstation (1), the working areas of the industrial robot (4) and the worker (5) overlap. Contact between the worker (5) and the industrial robot (4) is possible. The workstation (1) is divided into a plurality of different zones (17, 18, 19, 20) having differently high levels of risk of hazard from the industrial robot (4) for the worker (5). The industrial robot (4) is suitable for human-robot cooperation.

Abstract: A method for controlling a manipulator includes determining by a control device one or more contact force values between the manipulator and a first workpiece. Each of the contact force values is based on an actual driving force of the manipulator and a drive force according to a dynamic model of the manipulator. The method also includes at least one of a) measuring in multiple stages an orientation and location of the first workpiece based on at least one of the one or more determined contact force values or b) joining a second workpiece and the first workpiece under a compliant regulation, where a joining state of the first and second workpieces is monitored based on at least one of an end pose of the manipulator obtained under the compliant regulation, a speed of a temporal change of the manipulator, or at least one of the one or more determined contact force values.

Abstract: A method for controlling a manipulator includes determining by a control device one or more contact force values between the manipulator and a first workpiece. Each of the contact force values is based on an actual driving force of the manipulator and a drive force according to a dynamic model of the manipulator. The method also includes at least one of a) measuring in multiple stages an orientation and location of the first workpiece based on at least one of the one or more determined contact force values or b) joining a second workpiece and the first workpiece under a compliant regulation, where a joining state of the first and second workpieces is monitored based on at least one of an end pose of the manipulator obtained under the compliant regulation, a speed of a temporal change of the manipulator, or at least one of the one or more determined contact force values.

Abstract: A process module library according to the invention for programming a manipulator process, in particular an assembly process, comprises a plurality of parametrisable process modules (“search( )”, “peg_in_hole( )”, “gear( )”, “screw( )”) for carrying out a sub-process which in particular is common to different manipulator processes. Each of the process modules comprises a plurality of basic commands of a common set of basic commands for carrying out a basic operation, in particular an atomic or molecular operation, and a process module can be linked, in particular mathematically, to a further process module and/or a basic command. During programming, a manipulator can be controlled by means of a functional module of a graphic programming environment (100).

Abstract: A process module library according to the invention for programming a manipulator process, in particular an assembly process, comprises a plurality of parametrisable process modules (“search( )”, “peg_in_hole( )”, “gear( )”, “screw( )”) for carrying out a sub-process which in particular is common to different manipulator processes. Each of the process modules comprises a plurality of basic commands of a common set of basic commands for carrying out a basic operation, in particular an atomic or molecular operation, and a process module can be linked, in particular mathematically, to a further process module and/or a basic command. During programming, a manipulator can be controlled by means of a functional module of a graphic programming environment (100).

Abstract: A method according to the invention for controlling a manipulator, in particular of a robot, comprises the step of detecting a contact force between the manipulator and a workpiece (2; 20) on the basis of actual drive forces (t) and drive forces (tModell) of a dynamic model (M d2q/dt2+h(q, dq/dt)=tModell) of the manipulator. The method also comprises at least one of the steps of a) multistage measuring of a position of the workpiece (2) on the basis of detected contact forces (S40, S70), in particular comprising the steps of: determining positions of misaligned contours, in particular edges (2.1, 2.2), of the workpiece (2) by detecting poses of the manipulator and at the same time contact forces acting thereon (S40); moving to reference points of the workpiece (2), in particular defined by recesses (3.1, 3.2, 3.3), on the basis of contours (2.1, 2.