MAINTAINING FREE-DRIVE MODE OF ROBOT ARM FOR PERIOD OF TIME

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 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 then is configured to: - monitor a value of at least one joint sensor parameter; - compare the value of the joint sensor parameter to a maintain free-drive joint sensor parameter threshold value; - maintain the robot arm in said free-drive mode of operation for a predetermined maintain free-drive period of time; and - leave the free-drive mode of operation if the value of the joint sensor parameter does not exceed the maintain free-drive joint sensor parameter threshold value within the maintain free-drive period of time.