Method for controlling a robot

A non-transitory computer implemented storage medium that stores machine-readable instructions executable by at least one processor to control a robot for automatic positioning of a tool in a target pose, the robot including a movable robot arm that includes a robot flange on an end side, on which the tool is held, the machine-readable instructions comprising:

• specifying three dimensional space coordinates of a reference point of the tool, of an axis of the tool, and of an orientation of the axis as part of the target pose for the tool;
• determining a six dimensional pose of a robot flange corresponding to the target pose of the tool;
• augmenting a predetermined kinematics of the robot with a virtual joint arranged in the tool that provides a virtual restriction-free rotation about the predetermined axis of the tool;
• and
• determining a path in accordance with which the six dimensional pose of the robot flange may be moved to from the current initial pose of the robot;
• wherein any conflicts occurring during the move with a maximum physical scope of movement of the robot are resolved automatically by a rotation of the virtual joint.

A robot comprising:

• a movable robot arm comprising a robot flange for holding a tool on an end side;
• and
• a control device comprising an interface for receiving specifications, a data memory and a processor device connected to the data memory and to the interface for executing the program code stored in the data memory comprising instructions to:
• specify three dimensional space coordinates of a reference point of the tool, of an axis of the tool, and of an orientation of the axis as part of the target pose for the tool;
• determine a six dimensional pose of a robot flange corresponding to the target pose of the tool;
• augment a predetermined kinematics of the robot with a virtual joint arranged in the tool that provides a virtual restriction-free rotation about the predetermined axis of the tool;
• and
• determine a path in accordance with which the six dimensional pose of the robot flange may be moved to from the current initial pose of the robot;
• wherein any conflicts occurring during the move with a maximum physical scope of movement of the robot are resolved automatically by a rotation of the virtual joint.