Patent attributes
The invention relates to a method for operating a robot (R), and a correspondingly set-up robot. The robot (R) has a robot arm (M) having a plurality of members (1) following sequentially, an attaching device (3) for attaching an end effector (4, 46), and drives for moving the members (1), and a control device (S) connected to the drives. Stored in the control device (S) is a hierarchical regulating and control strategy having a plurality of differently prioritized regulating and control functionalities, and the method has the following process step: during the movement of the robot arm (M), switching over to a higher-prioritized regulating and control functionality, as soon as stable movement of the robot arm (M) by means of the higher-prioritized regulating and control functionality is possible, and an execution condition independent of the higher-prioritized regulating and control functionality is fulfilled.
