Screwing device

A method of operating a screwing device, wherein the screwing device comprises:

• a storage container for screws having a screw head, a screw head drive, and a threaded pin,
• a robot manipulator having an effector, which is adapted to the screw head and the screw head drive, and is embodied and configured to pick up and handle the screws,
• an isolating unit connected to the storage container, the isolating unit comprising an interface at a known position, wherein the screw head of a respective screw isolated from the container is accessible to the effector at the interface, and
• a control unit to control or regulate the robot manipulator to pick up the screw head of the respective screw in the effector, wherein the control unit executes a first control program to perform operations of the method comprising:
• guiding the effector by the robot manipulator along a predetermined trajectory T1 having a target orientation Otarget,T1(RT1) to the screw head of the respective screw provided at the interface, wherein along the trajectory T1 for locations RT1 of the trajectory T1, the target orientation Otarget,T1(RT1) of the effector is defined;
• and
• beginning at a predefined distance from the screw head of the respective screw, executing force-regulated and/or impedance-regulated and/or admittance-regulated period and closed tilting movements of the effector relative to the target orientation Otarget,T1(RT1) by the robot manipulator until a predetermined limiting value condition G1 for a torque acting on the effector and/or a predetermined limiting value condition G2 of a force acting on the effector and/or a limiting value condition G3 of a time for carrying out the tilting movements is reached or exceeded, and/or a provided force/torque signature and/or a position/speed/acceleration signature at the effector is reached or exceeded, indicating that picking up the respective screw by the head via the effector has been successfully completed within predefined tolerances.