Method of handling manipulator, control system and industrial robot

A control system for handling a manipulator of an industrial robot, the manipulator having a base member, a mounting interface and a kinematic chain between the base member and the mounting interface, the kinematic chain including the base member, the mounting interface and at least one controllable joint, the control system comprising at least one data processing device and at least one memory having a computer program stored thereon, the computer program including program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform the steps of:

• providing a candidate trajectory for the manipulator, the candidate trajectory being associated with a candidate path;
• receiving a load location input from a user, the load location input being associated with a load location associated with the industrial robot outside the kinematic chain;
• and
• calculating load values of a load parameter that will affect the load location if the candidate trajectory is executed.

An industrial robot comprising a manipulator and a control system for handling the manipulator, the manipulator having a base member, a mounting interface and a kinematic chain between the base member and the mounting interface, the kinematic chain including the base member, the mounting interface and at least one controllable joint, the control system having at least one data processing device and at least one memory having a computer program stored thereon, the computer program including program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform the steps of:

• providing a candidate trajectory for the manipulator, the candidate trajectory being associated with a candidate path;
• receiving a load location input from a user, the load location input being associated with a load location associated with the industrial robot outside the kinematic chain;
• and
• calculating load values of a load parameter that will affect the load location if the candidate trajectory is executed.