Abstract: A method of an industrial robot including a control unit and a manipulator including a tool including a defined tool center point and a device for determining a distance error between an inaccurately programmed position for a spot on a surface of a work piece and a corresponding actual position.

Abstract: An apparatus and method is disclosed for protection of a machine-controlled handling appliance having moving parts, having a safety sensor system for detection of objects in the working area of the handling appliance, having a safety controller which interacts with the handling appliance controller and in the process controls safety-relevant handling appliance functions as a function of signals from the safety sensor system. The safety sensor system has non-contacting proximity sensors so that a safety-relevant part of the working area of the handling appliance is covered by the detection areas of the proximity sensors.

Abstract: An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.

Abstract: An industrial robot including a parallel kinematic manipulator (2) of an object (7a) in space, where the manipulator (2) includes a stationary platform (6), a movable platform (7) for carrying the object (7a), at least three arms (3, 4, 5) connecting the platforms (6,7). Each arm comprises a first arm part ( ) connected to the stationary platform for manipulating the movable platform (7).