METHOD FOR TRACKING A HAND-GUIDED ROBOT, HAND-GUIDED ROBOT, COMPUTER PROGRAM, AND ELECTRONICALLY READABLE STORAGE MEDIUM

摘要

Method for tracking a hand-guided robot (1) comprising a control unit (14) and at least one manipulator (6) coupled to an end effector (10), in which the manipulator (6) comprises a plurality of joints (7, 8) and links (9) and the end effector (10) is manually displaceable within an operational volume (11), characterized in that the control unit (14) determines at least one movement information of each joint (7, 8) during and/or after a manual or partially manual displacement of the end effector (10), and a position and orientation information of the end effector (10) inside the operational volume (11) during and/or after the displacement of the end effector (10) using the determined movement information of each joint (7, 8) and a software-based kinematic and dynamic model of the manipulator (6) stored in a memory (16) of the control unit (14).