ROBOT SYSTEM, METHOD FOR PROGRAMMING A ROBOT MANIPULATOR AND CONTROL SYSTEM

摘要

Robot system (10) comprising a master robot manipulator (14) movable about a plurality of axes (18); a slave robot manipulator (16) movable about a plurality of axes (18); and a control system (26) for controlling movements of the master robot manipulator (14) and the slave robot manipulator (16); wherein the control system (26) is configured to support manual programming of the slave robot manipulator (16) by means of lead through of the master robot manipulator (14) by an operator while obtaining movements of the master robot manipulator (14), transferring the movements of the master robot manipulator (14) to corresponding movements of the slave robot manipulator (16) and recording positions and torques of each axis (18) of the slave robot manipulator (16). A method and a control system (26) are also provided.