Method for manually handled adjustment of the pose of an industrial robot manipulator arm of an industrial robot and associated industrial robot

摘要

The invention relates to a method for the manually guided adjustment of the pose of a manipulator arm (2) of an industrial robot (1), comprising the steps:Detecting (S4) an executive force applied by an operator of the industrial robot (1) to the manipulator arm (2),Determining (S5) the freedom of a reference coordinate system (R, RW, RB, RZ, RP) in the direction of which the executive has its greatest force directing component, as a selected freedom,- Force controlled driving (S6) of the drives of the industrial robot (1) such that an adjustment of a predetermined, associated with the manipulator arm reference point (P) by moving the manipulator arm (2) during a manually guided adjustment of the pose of the manipulator arm (2) only in the chosen freedom takes place.