A robot with a control unit for controlling a movement between an initial pose and a final pose

摘要

Robot, in particular industry - or jointed robot, having at least two degrees of freedom of movement (a1, a2) and a control unit (12) for controlling a movement of a gripper arm of the robot between a starting position (14) and a final pose (16), wherein the control unit (12) a memory unit (30) for storing a map (32) comprises, in the at least a disturbing contour (34) is verzeichenbar, characterized in that the control unit (12) is provided for this purpose, a path of movement (36) of the gripper arm between the initial pose (14) and the final pose (16) automatic manner in a function of the map (32) and in steps, which the step size of the map (32) to generate and that the control unit (12) being programmed in such a manner that the map (32) for generating the path (36) in at least two regions (38, 40) with differing accuracy, the path of movement in a first region (40) is composed of first segments and in a second region (38) of second segments is generated, wherein the first region (40) has fewer disturbing contours than the second region (38), and wherein the first segments in the first region (40) are longer than the second segments in the second region (38).