Method For Commanding An Industrial Robot

A method for controlling an industrial robot comprising a moving robot arm provided with at least one electric motor suitable for moving this robot arm and provided with a robot controller including a central unit and an axis controller, this method including the following steps:

• a) the execution, by the central unit, of a control program of the robot arm and, in response, the calculation and sending of position instructions of the robot arm;
• b) generation of supply voltages of said at least one electric motor by the axis controller as a function of the calculated position instructions, using cascading regulators including at least one input point receiving an input signal;
• c) controlling said at least one electric motor with the generated supply voltages.
• wherein, during step b), a sound excitation signal is superimposed, by the robot controller, with the input signal of one of the regulators to form a composite signal, the supply voltages being generated as a function of the composite signal.