Abstract: The invention relates to collaborative robotic equipment comprising a supporting structure (1) supporting an arm (2) that can be moved along at least one axis and the end of which is equipped with a tool (6), characterized in that said arm comprises a first horizontal portion (21), able to move on a vertical axis (X) and connected to the supporting structure by a first pivot (211), a second pivot (212) providing the rotary connection of a second horizontal portion (22) to the first portion (21), an end fitting (3) providing connection between the second portion and a motorized tool-holding linear actuator (4) which is fitted with a manual-control stick (5) collaborating with a main force sensor (54) to control the vertical movement of the tool (6) and amplify the manual effort.

Abstract: Methods, devices, and systems for controlling movement of a slave manipulator by an operator controlling a master manipulator in a way that the motion of that slave manipulator can be presented via a display to the operator such that the displayed position of the slave manipulator is intuitive to the operator, regardless of the actual position and orientation of the slave manipulator. Methods, devices, and systems relating to force feedback associated with medical robotic procedures.

Abstract: Disclosed herein is a robot, which has a simple structure and makes a gesture in a curved shape. The robot includes a body part, at least one cam member symmetrically arranged at both sides of the inside of the body part, an outer cover member surrounding the at least one cam member, and a linear moving device to linearly move the at least one cam member. The shape of the outer cover member is varied, under the condition that the outer cover member is adhered closely to the at least one cam member, according to the movement of the at least one cam member.

Abstract: A robotic system implements a collision avoidance scheme and includes a first robotic manipulator and a first controller configured to control the first robotic manipulator for movement along a first pre-planned actual path. A second controller is configured to control movement of a second robotic manipulator for movement along a second pre-planned intended path and deviating therefrom to move in a dodging path away from the first pre-planned actual path based upon determining a potential collision with the first robotic manipulator without prior knowledge of the first pre-planned actual path.

Abstract: A method for controlling a robot includes the step of controlling operation of the robot with a robot controller executing a control program having a plurality of process instructions. Associated process data for each of predetermined ones of the process instructions executed by the robot controller is then collected. The collected process data is subsequently stored in a form uniquely identified by at least one unique identifier. The at least one unique identifier may include both the program identifier and the process instruction identifier. The collected process data may be stored on the robot controller.

Abstract: A patient-side surgeon interface provides enhanced capabilities in using a minimally invasive, teleoperated surgical system. The patient-side surgeon interface has components within the sterile surgical field of the surgery. The components allow a surgeon to control teleoperated slave surgical instruments from within the sterile surgical field. The patient-side surgeon interface permits a surgeon to be in the sterile surgical field adjacent a patient undergoing surgery. Controlling minimally invasive slave surgical instruments from within the sterile surgical field permits minimally invasive surgery combined with direct visualization by the surgeon. The proximity to the patient allows the surgeon to control a teleoperated slave surgical instrument in tandem with controlling manually controlled instruments such as a laparoscopic instrument. Also, the surgeon, from within the sterile surgical field, can use the patient-side surgeon interface to control at least one proxy visual in proctoring another surgeon.

Abstract: A remote control device able to connect to a communications network generates robot control messages are used for the remote control of a robot also able to be connected to the communications network. The remote control device creates a robot control file and an indirect reference to the robot control file which a user can select for inclusion in a robot control message. Once selected, the indirect reference to a robot control file causes the indirectly referenced robot control file to be included in a message generated by the remote control device. The remote control device establishes a communications link with the communications network, and sends the message, with the robot control file, to the robot also connected to the communications network. The robot receives the robot control message and performs at least one action according to the instruction included in the robot control message.

Abstract: A robotic system that includes a mobile robot linked to a plurality of remote stations. One of the remote stations includes an arbitrator that controls access to the robot. Each remote station may be assigned a priority that is used by the arbitrator to determine which station has access to the robot. The arbitrator may include notification and call back mechanisms for sending messages relating to an access request and a granting of access for a remote station.

Abstract: A spot welding system including a spot welding gun having a pair of electrodes disposed opposite to each other, and a servo motor for allowing the pair of electrodes to approach each other and separate from each other; a robot for movably holding either a spot welding gun or a workpiece so that a workpiece is disposed between the pair of electrodes of the spot welding gun; a physical quantity detection section for detecting a physical quantity correlative to torque or velocity of the servo motor; a position detection section for detecting positions of the pair of electrodes; a mode switching section for switching, by a switching command, an operation mode of the spot welding system between a spot welding mode for spot-welding the workpiece and a position correction mode for correcting a spot welding position of the workpiece; and a processing section for performing a spot welding process in the spot welding mode and a position correction process in the position correction mode.

Abstract: A control system that guides a robot or articulated device with a laser distance meter for 3D motion, or guides a robot or articulated device with a computer pointing device (such as a mouse) for 2D or 3D motion. User needs to point to a desired physical location of the end point, and then the difficult work of finding the right joint angles to get there is done by a computer. System works like hand eye coordination. The hand goes wherever the eye is pointed so long as the eye is pointed within the reachable boundary of the jointed arm or articulated device.

Abstract: A system for controlling a human-controlled proxy robot surrogate is presented. The system includes a plurality of motion capture sensors for monitoring and capturing all movements of a human handler such that each change in joint angle, body posture or position; wherein the motion capture sensors are similar in operation to sensors utilized in motion picture animation, suitably modified to track critical handler movements in near real time. A plurality of controls attached to the proxy robot surrogate is also presented that relays the monitored and captured movements of the human handler as “follow me” data to the proxy robot surrogate in which the plurality of controls are configured such that the proxy robot surrogate emulates the movements of the human handler.

Abstract: A robot control system includes a start position storage that stores a start position or orientation in a manual operation, a redundancy trajectory storage that successively stores a position or orientation of optimized redundancy during the manual operation, and a reverse movement controller which performs movement control for changing the position or orientation of a robot hand, which have been changed by the manual operation, in a reverse direction from the current position or orientation to the start position or orientation. The reverse movement controller also performs movement control for reversely changing the position or orientation of the redundancy by following the position or orientation of the redundancy that have been successively stored in the redundancy trajectory storage.

Abstract: A motion path search device includes a motion space identification unit which identifies, as first spaces, three-dimensional spaces passed through by a movable part in direct teaching operations performed by an operator, and a spatial difference calculation unit that calculates a first differential space that is a part of one of the first spaces identified as a result of one of the direct teaching operations and that has no overlap with another of the first spaces identified as a result of another of the direct teaching operations that precedes the one of the direct teaching operations. A feedback unit provides the operator with information regarding the first differential space, and a path search unit searches for a motion path of the movable part within a first accessible space resulting from combining the first spaces after the direct teaching operations.

Abstract: A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.

Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

Abstract: A robotic system includes a robot adapted for moving a payload in proportional response to an input force from an operator, sensors adapted for measuring a predetermined set of operator input values, including the input force, and a controller. The controller determines a changing stiffness value of the operator using set of operator input values, and automatically adjusts a level of control sensitivity over the robot using the stiffness value. The input values include the input force, a muscle activation level of the operator, and a position of the operator. A method of controlling the robot includes measuring the operator input values using the plurality of sensors, processing the input values using the controller to thereby calculate the stiffness value, and automatically adjusting the level of control sensitivity over the robot using the stiffness value. A specific operator may be identified, with control sensitivity being adjusted based on the identity.

Abstract: A coordinated action robotic system may include a plurality of robotic vehicles, each including a platform and at least one manipulator movable relative thereto. The robotic system may also include a remote operator control station that may include a respective controller for each manipulator. The remote operator control station may also include a mapping module to map movement of each manipulator relative to its platform. Operation of the controllers for manipulator movement in a given direction produces corresponding movement of the respective manipulators in the given direction such that the robotic vehicles may be controlled as if they were one robotic vehicle. The coordinated movement may result in increased operational efficiency, increased operational dexterity, and increased ease of controlling the robotic vehicles.

Abstract: A robot system includes a robot, a robot controller, and a portable remote operating device. The portable remote operating device includes a display unit, an acquiring unit, and a display switching unit, and is connected to the robot controller. The acquiring unit acquires a reception/transmission process and a customized screen, which are created by a user. The display switching unit switches between the customized screen and a previously-prepared standard screen at a predetermined time during the operation of the robot.

Abstract: The invention relates to a method for the targeted reaction in the event of contact between an element (4, 6) pertaining to a machine and an object (5, 7), and a corresponding control device (14). Upon identification of contact between the machine element (4, 6) and the object (5, 7), if the machine axle is shifted into rapid displacement mode in an automated manner during the contact by means of a control device (14), further displacement of the machine axle (3, 41, 42, 43) is stopped by the drive (42, 43) of the machine (3, 41, 42, 43) being immediately cut off. Upon identification of contact, if the machine axle is shifted into slow displacement mode in an automated manner during the contact by means of a control device (14), collision detection is carried out, further displacement of the machine axle (3, 41, 42, 43) being stopped if a collision is detected.

Abstract: An industrial robot system has at least one robot (1) having a robot coordinate system (xr1, yr1, zr1) and a positioner (2) having a positioner coordinate system (xp, yp, zp) and adapted to hold and change orientation of a workpiece by rotating about a rotational axis. Target points for the robot are programmed with respect to an object coordinate system (xo1, yo1, zo1). A robot controller (3), at least three calibration objects (24a-c) arranged on the positioner, and a calibration tool (26) held by the robot are provided. The positions of the calibration objects are determined for at least three different angles of the rotational axis of the positioner, to determine the direction of the rotational axis of the positioner and relation between the object coordinate system and the positioner coordinate system by performing a best fit between known and determined positions of the calibration objects.

Abstract: The invention relates to a method of editing movements of a robot on the basis of computer equipment able to communicate with the robot, the method comprising steps in which: —a plurality of reference positions of the robot are generated; —at least one time sequence of positions is generated, the time sequence of positions comprising the plurality of reference positions, and transitional movements between two successive reference positions; and the robot is made interdependent with the displacement means included in the computer equipment and causing the displacement of the robot. The robot is a real robot and/or a virtual robot displayed on a screen of the computer equipment.

Abstract: A method and an apparatus for displaying three-dimensional workcell data includes a hand-held pendant that is provided with 3-D workcell data representing a model of a machine and associated components in a workcell. The hand-held pendant has a display that generates a 3-D visual representation of the workcell data. The pendant can be operated by a user to manipulate the visual representation to change a user viewpoint and to show motion of the machine with associated process information.

Abstract: Disclosed herein is a surgical robot control apparatus, in which a control stick member is connected to an upper surface of a base member, pivots and rotates around a connection portion, and is provided with a rotary button control member, a mode switching button member, and a control member which can be operated with the thumb Thus, the surgical robot control apparatus can realize multiple functions. A surgeon can grasp the control stick member to easily control operation of a surgical robot and can perform other work using the other hand. Thereby, when performing surgery, the surgical robot control apparatus remarkably reduces the fatigue of the surgeon, thereby providing a surgical environment that is convenient and safe and provides maximized efficiency. Further, the surgical robot control apparatus can increase the safety of a patient using a safety device based on a buttons and software while performing surgery.

Abstract: A control interface for inputting data into a controller and/or controlling a robotic system is displayed on a human-to-machine interface device. The specific configuration of the control interface displayed is based upon the task to be performed, the capabilities of the robotic system, the capabilities of the human-to-machine interface device, and the level of expertise of the user. The specific configuration of the control interface is designed to optimize the interaction between the user and the robotic system based upon the above described criteria.

Abstract: A robot system includes a robot control device connected to a plurality of robots each having a plurality of joints and a robot teaching device configured to communicate with the robot control device so as to teach and operate the robots. The robot control device automatically select one of the robots to be operated in accordance with a change in a display state of a display of the robot teaching device.

Abstract: The systems and methods disclosed herein generally involve a robotically-assisted surgical system in which a platform for supporting a patient is physically and operatively coupled to a surgical robot and an associated controller. As a result, the position of the patient can be controlled remotely using the robot, and the controller can have an awareness of the position and orientation of the patient with respect to the operating room and with respect to various components of the robot. Such systems can thus maintain a fixed frame of reference between the patient and one or more end effectors of the surgical robot, eliminating the need for recalibration of the system due to patient movement.

Abstract: A robot system having a manual guide device connected to the robot in wireless data communication with a portable terminal for use in programming the robot.

Abstract: This object aims to provide a work mounting system which has an improved usability and can be miniaturized. A work mounting system (1) is used to mount a sunroof member (3) on the inner panel (2A) of a body (2). The work mounting system (1) comprises a conveying robot (4) for holding and conveying the sunroof member (3), a mounting robot (5) with a nut runner for tightening bolts and a CCD camera, and a controller (6) for controlling the conveying robot (4) and the mounting robot (5).

Abstract: A system for operation of a robot including a substantially transparent display configured such that an operator can see a portion of the robot and data and/or graphical information associated with the operation of a robot. Preferably, a controller in communication with the robot and the transparent display is configured to allow the operator to control the operation of the robot.

Abstract: The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.

Abstract: A robot arm provided with a body unit shifting mechanism that connects a base unit and a body unit so as to be relatively shifted, and joint lock mechanisms that are capable of mechanically securing respective joints is disposed on the body unit, and a robot operation control unit controls to switch between a robot arm operation mode in which the robot arm is operated with one of the joints of the robot arm brought into a free state, and a body unit shift mode in which the body unit is shifted with the joint being brought into a locked state.

Abstract: A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool.

Abstract: It is an object of the invention to provide a robot system including a graphics language capable of comprehensively and easily controlling operation of each robot in a robot system constituted by a plurality of pieces of robots. A robot system of the invention in order to achieve the above-described object is constituted by a plurality of pieces of robots, a robot control apparatus 10 for controlling based on a robot program, and a robot instruction apparatus 11 connected to the robot control apparatus 10 for displaying the robot program, the robot control apparatus 10 includes a unit registration portion 1 for arbitrarily combining one piece or more of robots to define one unit, a task registration portion 2 for allocating a task to each unit, and a graphics language processing portion 3 capable of forming the robot program for each task as a graphic program in the robot system for simultaneously controlling one piece or more of robots.

Abstract: A robotic system implements a collision avoidance scheme and includes a first robotic manipulator and a first controller configured to control the first robotic manipulator for movement along a first pre-planned actual path. A second controller is configured to control movement of a second robotic manipulator for movement along a second pre-planned intended path and deviating therefrom to move in a dodging path away from the first pre-planned actual path based upon determining a potential collision with the first robotic manipulator without prior knowledge of the first pre-planned actual path.

Abstract: A system and method for ensuring that a large number of connectors, such as fiber-optic cable-connectors, which are plugged-into connector-receptacles arrayed across a connector-panel, are not intentionally disconnected by an un-authorized user with malicious intent, or accidentally unplugged by an authorized technician who may be trying to manually pull-out a specific connector for testing or other purposes but, inadvertently, could otherwise unplug a neighboring connector because of not being able to clearly see which plug is actually being removed due to the large number of cables that are connected to the panel. The connectors are locked in place by restraining arms which are controlled by solenoids or motors. Each restraining arm can be commanded to release its respective connector, but only when the correct command from a computer is received. The same system and method can be applied to connector-receptacles arrayed on one or both sides of the panel.

Abstract: A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect, a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial commands transmitted from the network data bridge.

Abstract: A learning control device performs a positioning process, a first image capturing process, and a first deviation amount calculating process in which a reference position deviation amount in the horizontal direction between the imaging reference position and a detection mark is derived based on image information captured in the first image capturing process to derive a position adjustment amount from the derived reference position deviation amount, and the learning control device further includes a positioning correcting process in which the position adjustment device is operated to adjust a position of the second learn assist member based on the derived movement adjustment amount when the reference position deviation amount derived in the first deviation amount calculating process falls outside a set tolerance range. A second image capturing process, and a second deviation amount calculating process may be further provided.

Abstract: A system for producing motions for an animatronic figure is disclosed. The system is configured to produce different types of motions in real-time and in a life-like manner. The motion software module forms a composite motion by combining the user-inputted motion with user-selected fixed sequences and/or with algorithmically calculated motion. The motions of the animatronic figure can further be filtered to produce motions that are life-like. Combined motions are formed by superimposing, modulating, or modifying component motions. Motions are filtered based on user-inputted commands and commands determined from a stimulus and filtered to create a life-like motion.

Abstract: A robotic system includes a humanoid robot having a plurality of joints adapted for force control with respect to an object acted upon by the robot, a graphical user interface (GUI) for receiving an input signal from a user, and a controller. The GUI provides the user with intuitive programming access to the controller. The controller controls the joints using an impedance-based control framework, which provides object level, end-effector level, and/or joint space-level control of the robot in response to the input signal. A method for controlling the robotic system includes receiving the input signal via the GUI, e.g., a desired force, and then processing the input signal using a host machine to control the joints via an impedance-based control framework. The framework provides object level, end-effector level, and/or joint space-level control of the robot, and allows for functional-based GUI to simplify implementation of a myriad of operating modes.

Abstract: The safety of an operator which may be endangered by an erroneous instruction by the operator or a robot control system is ensured by making more stringent a condition regarding the separation of the operator from the vicinity of a robot when an operation program of the robot is activated. An interlock to which a condition regarding activation of the operation program of the robot is added is provided in a feeding unit which is connected to a robot controlling unit by wireless connection for charging a teaching unit, so as to provide a robot system which improves the safety of the operator.

Abstract: A robot system includes at least one robot, robot controllers configured to control the robot, and pendants. The robot controllers include robot group control units each having an operating mode storage unit to store operating mode information to select a robot. The pendants include an enabling device to turn on and off drive power to the robot. The robot group control units are connected via an enable-link-signal line. Each robot group control unit is configured to output an enable link signal by operating the enabling device included in a corresponding pendant to transmit the enable link signal via the enable-link-signal line to all of the robot group control units. Each robot group control unit is configured to output a drive-power-on enable signal to turn on and off drive power to the robot in accordance with the enable link signal and the operating mode information.

Abstract: A surgical robotic system is disclosed that provides a combination of a programmed control, such as active control or passive control, when a high degree of accuracy is required and manual control when a high degree of accuracy is not required, such as during the removal of osteophytes, irregular bone growth and/or soft tissue. Manual resection may be completed by switching from the programmed control mode to the manual control mode and allowing the surgeon free control of the cutting tool. The manual resection may be carried out using some navigational features of the robotic system such as allowing the surgeon to visualize the position of the cutting tool thereby allowing accurate resection of osteophytes, irregular bone and tissue while having the unrestricted freedom to move the cutting tool. The programmed control mode may be reserved for procedures that require a high degree of accuracy, for example, the reaming of a bone and placement of an implant onto the bone.

Abstract: An input device for controlling an object includes a joystick and a modal switch. A user may use the modal switch to select a subset of degrees of freedom of the object. The joystick may then be used to control a change over time of the selected subset, where the change over time is functionally depend on both a motion of the joystick and a state of the selected subset. A method for controlling an object via the input device is also provided. The method includes receiving inputs indicating a selection by the modal switch of a subset of degrees of freedom of the object, and a motion of the joystick. A configuration of the selected subset is then caused to be changed based on the motion of the joystick and a state of the selected subset.

Abstract: The invention relates to methods and appropriate devices for safely, unequivocally and exclusively, temporarily assigning the command authority of an operator (1) to a controllable technical system (60) using a mobile control device (2) which is technically suitable for periodically controlling a plurality of controllable technical systems (60), which is equipped as standard with safety switch elements (38, 39) such as an emergency stop switch, ok key and operating mode selection switches and for a data coupling with the controllable technical system (60) in spite of having only normal transmission means (6) or network technologies without any particular features specific to safety function.

Abstract: An image capturing device is robotically positioned and oriented in response to operator manipulation of a master control device. An unused degree-of-freedom of the master control device is used to adjust an attribute such as focusing of the image capturing device relative to a continually updated set-point. A deadband is provided to avoid inadvertent adjusting of the image capturing device attribute and haptic feedback is provided back to the master control device so that the operator is notified when adjusting of the attribute is initiated.

Abstract: Provided are a power assist apparatus and its control method, which realize improvements in positioning precision and in workability while reducing the burden of a work positioning operation on a operator by burdening a portion of the positioning work on the power assist apparatus and while making good use of the decision or experience (or institution or knack) by the operator when the operator positions the work by using the power assist apparatus. The power assist apparatus thus autonomously cooperated with the working action of the operator comprises a transfer tool including an articulated robot, a sucking jig and a free joint for gripping and transferring windows, and a control device for controlling the actions of the transfer tool. The control device divides and stores a series of working tasks into a plurality of working section, and sets control logics for the individual working sections and for the individual working directions, in which the power assist apparatus has degrees of freedom.

Abstract: A behavior control apparatus collects information of a mobile object in relation to an action space of the mobile object, and acquires a position and an orientation of a human. The behavior control apparatus sets an exclusive area for the human based on the position and the orientation, and judges whether any information is to be notified to the human by the mobile object. If judging negatively, the behavior control apparatus determines a target position, a target orientation and a travel route of the mobile object such that the mobile object moves out of the exclusive area.

Abstract: A tactile contact and impact display system comprises a receiver, operable to receive therein a user's digit while leaving a target area of skin of the user's digit at least partially exposed. A contact pad is operable to engage the target area of the user's skin. An actuation system is actuatably coupled to the contact pad and is operable to move the contact pad relative to the target area of skin. A distance sensor is coupled to the contact pad, the distance sensor being operable to sense a separation distance between the contact pad and the target area of the user's digit. A restraining system is operable to substantially restrain the contact pad from moving in at least one degree of freedom relative to the receiver while allowing the contact pad to move in at least one degree of freedom relative to the receiver.

Abstract: A system for providing autonomous capabilities to a radio-controlled robot, comprises two communication boxes, one connected to the robot and the other connected to an operator control unit (OCU). Each communication box comprises two radios that are interoperable with preexisting data radios in the robot; a microprocessor unit; and bidirectional attenuators. The system further comprises a software application that runs on the microprocessor unit of each communications box, to integrate data into existing transmission data stream between the robot and OCU, via preexisting data radios. The system enables the issuance of additional commands besides those issued by the OCU, using the original OCU.

Abstract: A method for adjusting a program including program instructions for controlling an industrial robot to carry out work at a plurality of target points on a work object. The robot includes a tool having two arms adapted to clamp the work object and at least one of the arms is arranged movable relative the other arm in an opening and a closing direction, a manipulator adapted to hold the tool or the work object, and a controller controlling the movements of the manipulator and the tool arm and configured to switch between a normal control mode and a compliant control mode in which the manipulator has a reduced stiffness in at least one direction. The method includes moving the manipulator and the tool according to the program instructions until one of the target points is reached.