Method for operating a robot and robotic arm

A method for operating a robot, the method comprising:

• determining, by a data processing device, a difference between a current position of the robot and a target position of the robot;
• identifying, by the data processing device, when the difference exceeds a predetermined threshold value while the robot is in a torque-regulated operating mode;
• determining, by the data processing device, a predicted model-based intermediate state that the robot reaches before the target position according to a model, wherein a speed of the robot in the intermediate state is lower than a predetermined speed threshold;
• automatically switching, by a control device, when the robot reaches the intermediate state, the robot from the torque-regulated operating mode to a position-regulated operating mode;
• and
• moving, by the control device, the robot into the target position in the position-regulated operating mode,
• wherein, in dependence on a provided optimization criterion, the model used for determining the intermediate state is adapted from multiple predetermined models, chosen from the multiple predetermined models, or a combination thereof.

A method for operating a robot, the method comprising:

• providing a value for a mass of the robot and a value for a mass of a load the robot is carrying;
• determining, by a data processing device, a difference between a current position of the robot and a target position of the robot;
• identifying, by the data processing device, when the difference exceeds a predetermined threshold value while the robot is in a torque-regulated operating mode;
• determining, by the data processing device, a predicted model-based intermediate state that the robot reaches before the target position according to a model, wherein a speed of the robot in the intermediate state is lower than a predetermined speed threshold;
• automatically switching, by a control device, when the robot reaches the intermediate state, the robot from the torque-regulated operating mode to a position-regulated operating mode, wherein, for the switching to the position-regulated operating mode, the current position of the robot is calculated based on the provided mass values of the robot and the load and a torque value measured in the torque-regulated operating mode;
• and
• moving, by the control device, the robot into the target position in the position-regulated operating mode.

A robotic system comprising:

• a robot having multiple degrees of freedom;
• a data processing device;
• and
• a control device for regulating the robot in dependence on output data provided by the data processing device,
• wherein the data processing device is configured to:
• determine a difference between a current position of the robot and a target position of the robot,
• identify when the difference exceeds a predetermined threshold value while the robot is in a torque-regulated operating mode,
• model a motion of the robot in the torque-regulated operating mode by modeling in torque space and in axis space a spring connecting the current position with the target position, and
• determine a predicted model-based intermediate state, that the robot reaches before the target position according to the model, wherein a speed of the robot in the intermediate state is lower than a predetermined speed threshold, and
• wherein the control device is configured to:
• automatically switch the robot from the torque-regulated operating mode to a position-regulated operating mode when the robot reaches the intermediate state, and
• steer the robot into the target position in the position-regulated operating mode.