Method for controlling robot e.g. torque and/or force-controllable robot, involves measuring and/or determining rotational torque or force, where torque and/or force deviations are directly displayed on display device with respect to joints

摘要

The method involves measuring and/or determining actual rotational torque arising at joints (12a-12g) or actual force arising at the joints. A deviation between the raised actual rotational torque and/or the raised actual force and rotational torque commanded in a frame of a torque control and/or the force commanded in the frame of a force control is displayed on a displaying device, on which a virtual representation of the joints is represented. The rotational torque and/or force deviations are directly displayed on the display device with respect to the joints.