METHOD AND SYSTEM FOR TRANSFERRING AN END EFFECTOR OF A ROBOT BETWEEN AN END EFFECTOR POSE AND A FURTHER END EFFECTOR POSE

摘要

In a method according to the invention for transferring an end effector (14) of a robot between an end effector pose and a further end effector pose, for at least one axis (q₁) of the robot the same uniform course (q₁(s)) of the position of said axis is specified (S30), more particularly in advance, for the transfer between the one end effector pose and the one further end effector pose and for transfers between the one end effector pose and a group of other further end effector poses, more particularly in dependence on activation of a control operating mode. For at least one further axis (12, 13) of the robot, different courses of the position of said further axis are commanded (S50), more particularly during the transferring, for the transfer between the one end effector pose and the one further end effector pose and the transfer between the one end effector pose and at least one of the other further end effector poses.