Abstract: A method for controlling a robot includes applying a setpoint force to a contact point; measuring a contact stiffness at the contact point; and slowing down the moving robot using its drives and/or braking the robot to apply the setpoint force to the contact point by the slowing down and/or slowed down robot depending on the measured contact stiffness, wherein the robot is slowed down before the setpoint force is reached.

Abstract: A method for controlling and/or monitoring a machine arrangement having at least one machine, in particular at least one robot, with the aid of a processor arrangement having a plurality of processors each with at least one core. The method includes selecting, in particular temporarily selecting, a first available and at least one further available core on the proviso that these cores are implemented, in particular arranged, on different processors of the processor arrangement, in particular during operation of the machine arrangement and/or on the basis of an updated directory and/or on the basis, in particular as a result, of an ascertained need for redundant processing of process signals; processing process signals redundantly with the aid of these selected cores; and controlling and/or monitoring the machine arrangement on the basis of this processing.

Abstract: A method for controlling a robot includes applying a setpoint force to a contact point; measuring a contact stiffness at the contact point; and slowing down the moving robot using its drives and/or braking the robot to apply the setpoint force to the contact point by the slowing down and/or slowed down robot depending on the measured contact stiffness, wherein the robot is slowed down before the setpoint force is reached.

Abstract: A method for controlling a robot arrangement having at least one robot includes monitoring the robot arrangement using multiple safety monitoring functions activated in parallel, and steps, which may be repeated multiple times during execution of an application of the robot arrangement, of: selecting a subset of process parameters from a prescribed set of process parameters on the basis of a prescribed rule arrangement having at least one selection rule, and adjusting this selected subset of process parameters to avoid violation of at least one of the safety monitoring functions.

Abstract: A method for controlling a robot includes applying a setpoint force to a contact point; measuring a contact stiffness at the contact point; and slowing down the moving robot using its drives and/or braking the robot to apply the setpoint force to the contact point by the slowing down and/or slowed down robot depending on the measured contact stiffness, wherein the robot is slowed down before the setpoint force is reached.

Abstract: A hand-held robot operating device combination has: an autonomous safety-related basic control device that includes a housing, a safety-relevant switching means on the housing, and a communication device for connecting the autonomous safety-related basic control device for control purposes to a controller of a robot; an autonomous mobile terminal that includes a terminal controller and at least one terminal position sensor designed to sense positional data in respect of the autonomous mobile terminal in at least one of the degrees of freedom thereof; and a holder designed to mechanically connect the autonomous safety-related basic control device to the autonomous mobile terminal in a manually detachable combined arrangement so as to form the hand-held robot operating device combination; the autonomous safety-related basic control device includes at least one basic-control position sensor which is designed to sense positional data in respect of the autonomous safety-related basic control device in at least one

Abstract: A manipulator system includes at least one manipulator and a control device assigned to the manipulator; and at least one mobile operating device for controlling the at least one manipulator. In addition, an electronic display device is provided, which is arranged to display at least one optically readable identifier, and at least one optical reading device is provided and arranged to detect the displayed optically readable identifier. The manipulator system is arranged to release control of the manipulator by means of the mobile operating device when the optically readable identifier has been correctly detected by the optical reading device.

Abstract: A method for controlling a robot includes applying a setpoint force to a contact point; measuring a contact stiffness at the contact point; and slowing down the moving robot using its drives and/or braking the robot to apply the setpoint force to the contact point by the slowing down and/or slowed down robot depending on the measured contact stiffness, wherein the robot is slowed down before the setpoint force is reached.

Abstract: A method for controlling a robot arrangement having at least one robot includes monitoring the robot arrangement using multiple safety monitoring functions activated in parallel, and steps, which may be repeated multiple times during execution of an application of the robot arrangement, of: selecting a subset of process parameters from a prescribed set of process parameters on the basis of a prescribed rule arrangement having at least one selection rule, and adjusting this selected subset of process parameters to avoid violation of at least one of the safety monitoring functions.

Abstract: A method for automatically predetermining an intended movement of a manipulator arrangement of a medical system having a medical instrument and a recording means for generating images, wherein the recording means and/or the instrument is guided by the manipulator arrangement. The method includes establishing an intended transformation between a reference stationary in relation to the recording means and a reference stationary in relation to the instrument; monitoring a deviation between the intended transformation and a current transformation between the reference stationary in relation to the recording means and the reference stationary in relation to the instrument; and determining a reset movement of the manipulator arrangement for returning the current transformation to the intended transformation when the deviation satisfies a predetermined condition.

Abstract: The invention relates to a hand-held robot operating device combination (18) comprising: —an autonomous safety-related basic control device (15) that includes a housing (19), a safety-relevant switching means (20) on the housing (19), and a communication device (21) for connecting the mobile safety-related basic control device (15) for control purposes to a controller (12) of a robot (1); —an autonomous mobile terminal (17) that includes a terminal controller (23) and at least one terminal position sensor designed to sense positional data in respect of the mobile terminal (17) in at least one of the degrees of freedom thereof; and —a holder (16) designed to mechanically connect the safety-related basic control device (15) to the mobile terminal (17) in a manually detachable combined arrangement so as to form the hand-held robot operating device combination (18); the safety-related basic control device (15) includes at least one basic-control position sensor which is designed to sense positional data in respec

Abstract: A safety control device for releasing an operation of a machine, in particular a robot, includes an input device for detecting a manual contact, in particular a finger contact. The safety control device has a retaining device for securing the input device to a finger, in particular a fingertip, of an operator, in particular in a frictional manner, and/or a signaling means for outputting a signal, in particular an optical, acoustic, tactile, thermal, and/or electric signal, if a contact force detected by the input device is smaller than a specified upper minimum value and/or for outputting a signal, in particular the same signal or a different signal, in particular an optical, acoustic, tactile, thermal, and/or electric signal, if a contact force detected by the input device is greater than a specified lower maximum value.

Abstract: A method for detecting a collision of a robot arm with an object and a correspondingly configured robot. The robot arm is a part of the robot and includes a plurality of serially arranged links mounted relative to respective axes, and position sensors allocated to the individual axes are provided for determining the poses of any two adjacent links relative to one another. The robot further includes an electronic control device connected to the positioning devices, and actuators controlled by the electronic control device for automatically moving the links. The method includes evaluating whether at least one invariant for a target movement of the robot arm is satisfied by an actual movement of the robot arm and, when the evaluation results in a non-satisfaction of the at least one invariant, then indicating a collision of the robot arm with the object and initiating a safety function of the robot.

Abstract: A manipulator system includes at least one manipulator and a control device assigned to the manipulator; and at least one mobile operating device for controlling the at least one manipulator. In addition, an electronic display device is provided, which is arranged to display at least one optically readable identifier, and at least one optical reading device, which is provided and arranged to detect the displayed optically readable identifier. The manipulator system is arranged to release control of the manipulator by means of the mobile operating device when the optically readable identifier has been correctly detected by the optical reading device.

Abstract: A method for controlling a manipulator system including a manipulator, several drives and a mobile platform A first converter for actuating at least two of the several drives is associated with the manipulator system. The method includes the steps of: a) identifying one of the drives of the manipulator system that is associated with the first converter and that must be used to travel over a current planned movement path of the manipulator system, and (b) actuating the one identified associated drive by means of the first converter, where the actuated drive is used for the manipulator system to travel over the planned movement path. One of the at least two drives that is not being actuated is stationary preferably fixed or secured by a mechanical brake.

Abstract: A handheld robot operation unit comprises a basic safety control device, a mobile terminal device, and a holder configured to mount the mobile terminal device on the basic safety control device. The holder comprises at least one adapter device configured to mechanically connect the mobile terminal device to the basic safety control device.

Abstract: A system and a method for carrying out a teleoperative process, wherein an image recording device and a tool are used. The tool may be guided by a first manipulator, and a currently captured region of the image recording device is determined. Monitoring the position of the tool relative to the currently captured region of the image recording device makes it possible to prevent the tool from unintentionally leaving the captured region. The axes of the manipulator are provided with sensors for detecting the forces and/or torques acting on the axes.

Abstract: A safety control device for releasing an operation of a machine, in particular a robot, includes an input device for detecting a manual contact, in particular a finger contact. The safety control device has a retaining device for securing the input device to a finger, in particular a fingertip, of an operator, in particular in a frictional manner, and/or a signaling means for outputting a signal, in particular an optical, acoustic, tactile, thermal, and/or electric signal, if a contact force detected by the input device is smaller than a specified upper minimum value and/or for outputting a signal, in particular the same signal or a different signal, in particular an optical, acoustic, tactile, thermal, and/or electric signal, if a contact force detected by the input device is greater than a specified lower maximum value.

Abstract: A method for automatically predetermining an intended movement of a manipulator arrangement of a medical system having a medical instrument and a recording means for generating images, wherein the recording means and/or the instrument is guided by the manipulator arrangement. The method includes establishing an intended transformation between a reference stationary in relation to the recording means and a reference stationary in relation to the instrument; monitoring a deviation between the intended transformation and a current transformation between the reference stationary in relation to the recording means and the reference stationary in relation to the instrument; and determining a reset movement of the manipulator arrangement for returning the current transformation to the intended transformation when the deviation satisfies a predetermined condition.

Abstract: A method for controlling a manipulator system including a manipulator, several drives and a mobile platform. A first converter for actuating at least two of the several drives is associated with the manipulator system. The method includes the steps of: a) identifying one of the drives of the manipulator system that is associated with the first converter and that must be used to travel over a current planned movement path of the manipulator system, and (b) actuating the one identified associated drive by means of the first converter, where the actuated drive is for the manipulator system to travel over the planned movement path. One of the at least two drives that is not being actuated is stationary preferably fixed or secured by a mechanical brake.