Method and system for controlling a robot

A method for controlling a robot for carrying out a task, wherein the robot is redundant with respect to the task and includes at least a first movement axis or a second movement axis, the method comprising:

• specifying an adjustment of at least one of the first movement axis and the second movement axis of the robot in order to carry out the task and depending on an operating mode specification;
• and
• specifying at least one of the operating mode or a variant of the operating mode based on an actuation of a switch,
• such that:
• at least one of the first movement axis or the second movement axis is adjustable independently of the task or is blocked if a reduced operating mode is specified, and
• the at least one of the first movement axis or the second movement axis is adjustable for carrying out the task if an operating mode is specified that is different from the reduced operating mode, wherein either the reduced operating mode or the operating mode that is different from the reduced operating mode is (i) a first operating mode in which the first movement axis and the second movement axis cooperate to carry out the task and the adjustment of the first movement axis is prioritized over the adjustment of the second movement axis, or (ii) a second operating mode in which the first movement axis and the second movement axis cooperate to carry out the task and the adjustment of the second axis is prioritized over the adjustment he first movement axis;
• and
• wherein at least one of:
• both axes adjustably cooperate to carry out the task, and the adjustment of the first axis is more greatly prioritized, with respect to time or importance, over the adjustment of the second axis, relative to the prioritization in the first operating mode, when a third operating mode is specified, or
• both axes adjustably cooperate to carry out the task, and the adjustment of the second axis is more greatly prioritized, with respect to time or importance, over the adjustment of the first axis, relative to the prioritization in the second operating mode, when a fourth operating mode is specified.

A system for controlling a robot for carrying out a task, wherein the robot is redundant with respect to the task, the task comprising manual guidance of the robot, the system comprising a nonvolatile storage medium having stored thereon a program or program module executable by a controller or computer, the program or program module comprising at least one of:

• means for specifying an adjustment of a first axis and a second axis of at least two movement axes of the robot, depending on an operating mode specification specified by actuation of a switch, such that both axes adjustably cooperate to carry out the task and the adjustment of the first axis is prioritized over the adjustment of the second axis if a first operating mode is specified, and both axes adjustably cooperate to carry out the task and the adjustment of the second axis is prioritized over the adjustment of the first axis if a second operating mode is specified;
• or
• means for specifying an adjustment of at least one selected movement axis depending on an operating mode specification specified by actuation of the switch such that, in order to carry out said task, the movement axis is adjustable independently of the task or is blocked if a reduced operating mode is specified, and is adjustable for carrying out the task if an operating mode is specified that is different from the reduced operating mode, wherein the operating mode that is different from the reduced operating mode is the first or second operating mode;
• and
• wherein at least one of:
• both axes adjustably cooperate to carry out the task, and the adjustment of the first axis is more greatly prioritized, with respect to time or importance, over the adjustment of the second axis, relative to the prioritization in the first operating mode, when a third operating mode is specified, or
• both axes adjustably cooperate to carry out the task, and the adjustment of the second axis is more greatly prioritized, with respect to time or importance, over the adjustment of the first axis, relative to the prioritization in the second operating mode, when a fourth operating mode is specified.

A computer program product for controlling a robot for carrying out a task, wherein the robot is redundant with respect to the task and includes at least two movement axes, the computer program product including a program code stored on a non-transitory, computer-readable medium, the program code, when executed by a processor, causing the processor to:

• specify an adjustment of a first one of the movement axes and an adjustment of a second one of the movement axes depending on an operating mode specification of the robot such that:
• both axes adjustably cooperate to carry out the task, and the adjustment of the first axis is prioritized over the adjustment of the second axis if a first operating mode is specified, and
• both axes adjustably cooperate to carry out the task, and the adjustment of the second axis is prioritized over the adjustment of the first axis if a second operating mode is specified;
• wherein the task comprises manual guidance of the robot;
• and
• wherein at least one of:
• both axes adjustably cooperate to carry out the task, and the adjustment of the first axis is more greatly prioritized, with respect to time or importance, over the adjustment of the second axis, relative to the prioritization in the first operating mode, when a third operating mode is specified, or
• both axes adjustably cooperate to carry out the task, and the adjustment of the second axis is more greatly prioritized, with respect to time or importance, over the adjustment of the first axis, relative to the prioritization in the second operating mode, when a fourth operating mode is specified.