Method, control system and movement setting means for controlling the movements of articulated arms of an industrial robot

A control system (1) for controlling the movements of the articulated arms (21, 22, 23) of an industrial robot (2), comprising a movement setting means (3) to be guided by hand by an operator, the movements of which are provided for generating at least a portion of the movement control data for the industrial robot (2) to be controlled, wherein the movement setting means (3) is coupled by data technology to at least one stationary control device (4, 4′) and the at least one control device (4, 4′) is designed at least for the activation and deactivation of movement drives of the industrial robot (2), wherein at least on individual articulated arms (21, 22, 23) adjustable by the operator at least one of a plurality of reference marks (19, 19′, 19″) is arranged or formed, and wherein the movement setting means (3) comprises at least one imaging and/or at least one distance-sensitive sensor (16, 17), which at least one sensor (16, 17) can be moved by at least one of the plurality of reference marks (19, 19′, 19″) into a relative spatial position selected by the operator, wherein in an initial step by using image-based and/or distance-based data from the relative position between the movement setting means (3) and the respectively selected reference mark (19, 19′, 19″) a fixed coupling condition (25) or an articulated coupling condition (25) with a specific degree of freedom is defined or determined and wherein in a following step during a movement of the movement setting means (3) at least the articulated arm (21, 22, 23) bearing the respectively selected reference mark (19, 19′, 19″) follows the movements of the movement setting means (3) by control technology such that within the technical limits of the industrial robot (2) or the at least one articulated arm (21, 22, 23) the coupling condition (25) set in the initial step is adhered to at least approximately.

A movement setting means (3) for controlling the movements of the articulated arms (21, 22, 23) of an industrial robot (2), wherein by means of the movement setting means (3) to be guided by hand by an operator at least a portion of movement control data is generated for the industrial robot (2) to be controlled, wherein the movement setting means (3) is coupled by data technology to at least one stationary control device (4, 4′) and the at least one control device (4, 4′) is designed at least for the activation and deactivation of movement drives of the industrial robot (2), wherein at least on individual articulated arms (21, 22, 23) adjustable by the operator at least one of a plurality of reference marks (19, 19′, 19″) is arranged or formed, and wherein the movement setting means (3) comprises at least one imaging and/or at least one distance-sensitive sensor (16, 17), which at least one sensor (16, 17) can be moved by at least one of the plurality of reference marks (19, 19′, 19″) into a relative spatial position selected by the operator, wherein in an initial step by using image-based and/or distance-based data from the relative position between the movement setting means (3) and the respectively selected reference mark (19, 19′, 19″) a fixed coupling condition (25) or an articulated coupling condition (25) with a specific degree of freedom is defined or determined, and wherein in a following step during a movement of the movement setting means (3) at least the articulated arm (21, 22, 23) bearing the respectively selected reference mark (19, 19′, 19″) follows the movements of the movement setting means (3) by control technology such that within the technical limits of the industrial robot (2) or the at least one articulated arm (21, 22, 23) the coupling condition (25) set in the initial step is adhered to at least approximately.