Method, control system and movement setting means for controlling the movements of articulated arms of an industrial robot

A control system for controlling movements of articulated arms of an industrial robot, comprising a movement setting device to be guided by hand by an operator of the industrial robot having the articulated arms,

• wherein movements of the movement setting device are provided for generating at least a portion of movement control data for the industrial robot to be controlled,
• wherein the movement setting device is coupled by data technology to at least one stationary control device and the at least one stationary control device is designed at least for activation and deactivation of movement drives of the industrial robot,
• wherein at least on individual articulated arms of the industrial robot having the articulated arms adjustable by the operator of the industrial robot having the articulated arms, at least one of a plurality of reference marks is arranged or formed, and
• wherein the movement setting device comprises at least one imaging sensor and/or at least one distance-sensitive sensor, wherein the at least one imaging sensor and/or the at least one distance-sensitive sensor can be moved into a relative spatial position to at least one of the plurality of reference marks selected by the operator of the industrial robot having the articulated arms,
• wherein in an initial step by using image-based and/or distance-based data from the relative position between the movement setting device and a respectively selected reference mark of the plurality of reference marks, a fixed coupling condition or an articulated coupling condition with a specific degree of freedom is defined or determined and
• wherein in a following step during a movement of the movement setting device at least one articulated arm of the articulated arms bearing the respectively selected reference mark follows the movements of the movement setting device by control technology such that within technical limits of the industrial robot or of the at least one articulated arm of the articulated arms, the coupling condition set in the initial step is adhered to at least approximately.

A movement setting device for controlling movements of articulated arms of an industrial robot, wherein by a movement setting device to be guided by hand by an operator of the industrial robot having the articulated arms at least a portion of movement control data is generated for the industrial robot to be controlled,

• wherein the movement setting device is coupled by data technology to at least one stationary control device and the at least one stationary control device is designed at least for activation and deactivation of movement drives of the industrial robot,
• wherein at least on individual articulated arms of the articulated arms adjustable by the operator of the industrial robot having the articulated arms, at least one of a plurality of reference marks is arranged or formed, and
• wherein the movement setting device comprises an imaging sensor and/or a distance-sensitive sensor, wherein the imaging sensor and/or the distance-sensitive sensor can be moved into a relative spatial position to at least one of the plurality of reference marks selected by the operator of the industrial robot having the articulated arms,
• wherein in an initial step by using image-based and/or distance-based data from a relative position between the movement setting device and the respectively selected reference mark of the plurality of reference marks, a fixed coupling condition or an articulated coupling condition with a specific degree of freedom is defined or determined, and
• wherein in a following step during a movement of the movement setting device an at least one articulated arm of the articulated arms bearing the respectively selected reference mark follows the movements of the movement setting device by control technology such that within technical limits of the industrial robot or of the at least one articulated arm of the articulated arms, the coupling condition set in the initial step is adhered to at least approximately.