Method and device for defining a movement sequence for a robot

Abstract

The present invention relates to a method and to a device for defining a movement sequence for a multi-axis manipulator of a robot system, which manipulator has a plurality of elements which form different rotational axes, and an end element for interaction with an effector, wherein the effector is intended to carry out at least one arbitrary operation in a working space, and wherein in order to carry out the at least one arbitrary operation the end element of the manipulator is to be transferred into an arbitrary target pose with respect to the working space, wherein the manipulator moves in a plurality of steps to the target pose while approaching the end element, and for each step at least one defined impedance pattern and/or admittance pattern is defined with respect to at least one axis which forms the axis of a coordinate system which is linked to the manipulator.

Dependencies are inferred from the claim text.