Abstract: A method for simulating a braking operation of a robot wherein a dynamic model of the robot is used to determine, for a given initial state of the robot, a final state range with a plurality of possible final states of the robot as a result of the simulated braking operation.

Abstract: A method for monitoring a robot includes monitoring a safety condition and operating the robot in a limitation operating mode for as long as the monitored safety condition is not fulfilled. A deceleration of the robot is commanded and monitored in the limitation operating mode for as long as the robot exceeds a velocity limit.

Abstract: A method for simulating a braking operation of a robot wherein a dynamic model of the robot is used to determine, for a given initial state of the robot, a final state range with a plurality of possible final states of the robot as a result of the simulated braking operation.

Abstract: In one aspect, a method for controlling a compliant-controlled robot includes performing a boundary monitoring of the robot and controlling movement of the robot with a return force that is predetermined by control technology. If the robot is already in a blocked area upon activation of the boundary monitoring, then a first return force operates to return the robot from a current position in the blocked area toward a boundary of the blocked area. If the robot arrived at the current position in the blocked area after activation of the boundary monitoring, then a second return force operates to return the robot from the current position toward the boundary. The first return force is at least temporarily less than the second return force.

Abstract: A method for switching a control of a robot into a manual operating mode, wherein the robot is movable by a user manually applying at least one of a force or a torque upon the robot, includes detecting at least one of joint forces or joint torques of the robot, and triggering an error reaction in response to the switching and based on at least one of the detected joint forces and/or joint torques, target joint forces and/or target joint torques, or a pose of the robot.

Abstract: A method for controlling a robot having a drive arrangement with at least one drive includes determining an actual velocity of the robot, determining a target velocity for the robot, and determining a damping drive parameter based on a difference between the target velocity and the actual velocity. The target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a first distance of the robot from at least one predetermined boundary. The drive arrangement of the robot is then controlled based on the damping drive parameter.

Abstract: A method for monitoring a payload-handling robot assembly having at least one robot includes identifying a robot-handled payload arrangement on the basis of a current position of the robot assembly relative to a specified change position of the robot assembly. In another aspect, a robot assembly includes at least one robot, a monitoring apparatus configured to determine a current position of the robot assembly and to identify a robot-handled payload arrangement on the basis of the current position of the robot assembly relative to a specified change position of the robot assembly, and a payload receptacle for receiving a plurality of different payloads. The robot is configured for handling the plurality of payloads in an alternating manner.

Abstract: A method for monitoring a robot includes monitoring a safety condition and operating the robot in a limitation operating mode for as long as the monitored safety condition is not fulfilled. A deceleration of the robot is commanded and monitored in the limitation operating mode for as long as the robot exceeds a velocity limit.

Abstract: A method of safety monitoring for a robot assembly with at least one robot that is configured with a linking function arrangement with at least one first linking function including a fixed and predetermined number of monitoring functions of a monitoring function arrangement. The monitoring functions are logically linked to one another such that the first linking function has a reaction state whenever all of the monitoring functions indicate the violated and/or error state. The first linking function does not have a reaction state whenever any monitoring function from the plurality of monitoring functions does not indicate the violated and/or error state. The reaction state is executed by the controller when all of the monitoring functions are in the violated and/or error state.

Abstract: A method for controlling a robot having a drive arrangement with at least one drive includes determining an actual velocity of the robot, determining a target velocity for the robot, and determining a damping drive parameter based on a difference between the target velocity and the actual velocity. The target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a first distance of the robot from at least one predetermined boundary. The drive arrangement of the robot is then controlled based on the damping drive parameter.

Abstract: A method for controlling a robotic manipulator includes manually controlling the robotic manipulator with an operating device connected to a control device of the manipulator and having a first safety level, and monitoring an admissible state of operation with a protective device connected to the control device and having a second, higher safety level, The manipulator performs an operation commanded by the operating device only if the protective device is communicating an admissible state to the control device.

Abstract: In one aspect, a method for controlling a compliant-controlled robot includes performing a boundary monitoring of the robot and controlling movement of the robot with a return force that is predetermined by control technology. If the robot is already in a blocked area upon activation of the boundary monitoring, then a first return force operates to return the robot from a current position in the blocked area toward a boundary of the blocked area. If the robot arrived at the current position in the blocked area after activation of the boundary monitoring, then a second return force operates to return the robot from the current position toward the boundary. The first return force is at least temporarily less than the second return force.

Abstract: A method for switching a control of a robot into a manual operating mode, wherein the robot is movable by a user manually applying at least one of a force or a torque upon the robot, includes detecting at least one of joint forces or joint torques of the robot, and triggering an error reaction in response to the switching and based on at least one of the detected joint forces and/or joint torques, target joint forces and/or target joint torques, or a pose of the robot.

Abstract: A method and a data processing system for converting at least one first safety configuration file of a control device into a second safety configuration file by means of a converter. Thereafter, the consistency of the first safety configuration file and the second safety configuration file is checked by means of a consistency checking unit. An identifier of the second safety configuration file is initially set to correspond with an identifier of the first safety configuration file, and is changed if an inconsistency is found during the consistency check. If the identifier of the second safety configuration file has been changed and no longer corresponds to the identifier of the first safety configuration file, the control device prevents activation of the second safety configuration file and manipulator.

Abstract: A method for controlling a robot that has a plurality of articulation axes, with at least one axis that includes a drive mechanism for moving the axis and a holding brake for limiting movement of the axis. The method includes closing the holding brake and at least one of opening the holding brake after the closing step based on an axial load, or opening the holding brake for a specified duration. In addition, or alternatively, closing of the holding brake may be delayed for a period of time. The holding brake may be closed in response to the detection of a monitoring-related condition of the robot.

Abstract: A method for controlling a robot that has a plurality of articulation axes, with at least one axis that includes a drive mechanism for moving the axis and a holding brake for limiting movement of the axis. The method includes closing the holding brake and at least one of opening the holding brake after the closing step based on an axial load, or opening the holding brake for a specified duration. In addition, or alternatively, closing of the holding brake may be delayed for a period of time. The holding brake may be closed in response to the detection of a monitoring-related condition of the robot.

Abstract: A device according to the invention (1) for monitoring the safety of at least one robot (2), having a non-contact detection apparatus (3A, 3B) for monitoring a working space (A) of at least one robot (2) in a monitoring mode (FIG. 1), is characterized by a switching means (1) for switching the detection apparatus into a measuring mode (FIG. 2) to measure at least one robot (2).

Abstract: A method for monitoring a payload-handling robot assembly having at least one robot includes identifying a robot-handled payload arrangement on the basis of a current position of the robot assembly relative to a specified change position of the robot assembly. In another aspect, a robot assembly includes at least one robot, a monitoring apparatus configured to determine a current position of the robot assembly and to identify a robot-handled payload arrangement on the basis of the current position of the robot assembly relative to a specified change position of the robot assembly, and a payload receptacle for receiving a plurality of different payloads. The robot is configured for handling the plurality of payloads in an alternating manner.

Abstract: A safety monitoring means for a robot assembly with at least one robot includes a configuration means for configuring a linking function arrangement with at least one first linking function including a fixed and predetermined number of monitoring functions of a monitoring function arrangement. The monitoring functions are logically linked to one another such that the first linking function has a reaction state whenever none of the monitoring functions indicates a not-violated state. The configuration means may further include at least one second linking function including a fixed and predetermined number of monitoring functions that are logically linked to one another such that the second linking function does not have a reaction state whenever all monitoring functions indicate a violated state.

Abstract: In a method and device for monitoring a movement-controlled machine, such as a manipulator, having an electronically commutated drive motor for which a commutation angle is provided based on its detected real position and a control variable, in particular a predetermined desired position, a limit value is determined for a rate of change in particular a time derivative of the real position of the drive motor, and the commutation angle is predetermined such that the rate of change of the commutation angle does not exceed a limit value.