Method for Operating a Multi-Limb Manipulator

A method for operating a multi-limb manipulator which comprises at least one electric actuator for introducing a relative movement into adjacent manipulator limbs, a control unit for a controlled energy supply to the actuator being assigned to the at least one actuator, the method comprising the steps of:

• the provision of desired movement values from the group:
• desired distance and desired velocity or desired distance and desired acceleration or desired distance and desired velocity and desired acceleration for the actuator to an actuator dynamic model and
• the determination of an electric desired current value for the actuator in the actuator dynamic model in order to obtain the preset desired movement values, the transfer of the desired current value or the desired current value and the desired movement values to a controller designed for outputting an actuator current to the actuator with the inclusion of the desired current value and of a measured actual current value and a measured actual position of the actuator, wherein a difference between the desired current value and the actual current value is determined and converted into a required positional deviation of the actuator and wherein the determined required positional deviation is added to the desired distance fed into the actuator dynamic model in order to facilitate a diversion movement of the at least one manipulator limb operated by the at least one actuator on the occurrence of an external disturbing force.