Robot having a controller protected for a network failure

A robot comprising actuator-driven elements, actuators to drive the actuator-driven elements, and mechanical brakes to decelerate the actuator-driven elements, the robot requiring a desired operating voltage UB and/or a desired operating current IB in order to operate, wherein the robot comprises:

• a voltage and current source comprising:
• an input interface to which a primary voltage UP and a primary current IP are applied, wherein, during normal operation, the primary voltage UP is equal to a desired primary voltage UP,desired and the primary current IP is equal to a desired primary current IP,desired, and
• an output interface to which an actual voltage Uactual and an actual current Iactual arm supplied, wherein during normal operation:
• Uactual=UB and Iactual=IB;
• an energy store integrated into the voltage and current source and configured to maintain the operating voltage UB and the operating current IB for a predefined period of time Δt following a failure or a drop in the primary voltage UP and/or primary current IP;
• a monitoring unit configured to monitor the primary voltage UP applied to the input interface and configured to generate a stop signal as soon as the applied primary voltage UP deviates by a predefined amount ΔU from the desired primary voltage UP,desired;
• and
• a control unit connected to the monitoring unit and configured to control the robot and its actuator-driven elements, wherein the control unit is further configured to control the robot with its actuator-driven elements into a predefined safe state upon receipt of the stop signal, wherein control of the robot into the predefined safe state comprises driving the actuators of the actuator-driven elements such that the robot decelerates into a dynamic state characterized by a sum of kinetic energy of at least a plurality of the actuator-driven elements, wherein the sum is less than a predefined boundary kinetic energy, and triggering one or more of the mechanical brakes to further decelerate the actuator-driven elements into the predefined safe state only when the robot has been decelerated by the actuators into the dynamic state.