CONTROL APPARATUS FOR A ROBOT ARRANGEMENT, ROBOT ARRANGEMENT, METHOD, COMPUTER PROGRAM, AND MACHINE-READABLE STORAGE MEDIUM

摘要

The invention relates to a control apparatus for a robot arrangement (1), wherein the robot arrangement (1) comprises at least one robot (2), wherein the robot (2) is operable in a working area (3) and has an end effector (4), wherein the end effector (4) is movable in the working area (3) in order to carry out a process sequence (12), having a control device (7) for inputting, defining and/or setting the process sequence (12), wherein the control device (7) is configured to plan a trajectory (6) for carrying out the process sequence (12) and to actuate the robot (2) on the basis of the trajectory (6) for carrying out the process sequence (12), wherein the control device (7) has a checking function and is configured to check the trajectory (6) for freedom from collisions before actuating the robot (2).