ROBOT ARM WITH ADAPTIVE THREE-DIMENSIONAL BOUNDARY IN FREE-DRIVE

摘要

The invention relates to a robot controller controlling a robot arm, the robot controller is configured to maintain the robot arm in a static posture when only gravity is acting on the robot arm and allow change in posture of the robot arm 5 when an external force different from gravity is applied to the robot arm. The free-drive mode of operation is activatable by a user establishing a free-drive activation signal to the robot controller, which in free-drive mode of operation is configured within at a free-drive safety period to allow a part of said robot arm to be moved within a virtual three-dimensional geometric shape 10 surrounding the part of the robot arm.