METHOD, CONTROL SYSTEM AND MOVEMENT PRESETTING MEANS FOR PROGRAMMING OR PRESETTING MOVEMENTS OR PROCESSES BY AN INDUSTRIAL ROBOT

摘要

the invention concerns a method, a control system (1) and a bewegungsvorgabemittel (3) for programming or claim of movements or operations of an industrial robot (2),although the manually to leading bewegungsvorgabemittel (3) with an integrated and / or external sensors (8, 9) for measuring the orientation and, where appropriate, the position of the manually to leading bewegungsvorgabemittels (3) in the area of control system (1), at least part of the data for the motion control of the industrial robot (2) or ablaufprogrammierung calculates and generates wird.it is by the control system (1) the orientation of the bewegungsvorgabemittels (3) in the region in terms of time and / or bewegungsabhu00e4ngige criteria and / or sporadic request and corresponding command by the operator with a predefinedthe control system (1) by or from the control system (1) contain vergleichsorientierung (15) are compared.moreover, the operator of a potential difference between the detected orientation of the bewegungsvorgabemittels (3) and the vergleichsorientierung (15) and / or an overshoot and / or an adherence to a predetermined magnitude of a deviation between the determined the orientation of the bewegungsvorgabemittels (3) and the vergleichsorientierung (15) signals.