Method for operating a robot, data memory with corresponding program code, robot, and robot system

A robot comprising:

• a control device for controlling the robot;
• a data memory;
• and
• a processor connected to the data memory for executing program code, and with an interface for receiving specifications, wherein the processor is configured to:
• specify an axis of a tool;
• specify a Cartesian reference coordinate system originating on the robot foot;
• specify a Cartesian target coordinate system originating on a point of the tool, a z-axis corresponding to the axis of the tool, and an x-axis and a y-axis each with initially indeterminate orientations;
• specify three-dimensional spatial coordinates of the point of the tool and an orientation of the axis, expressed in each case in the reference coordinate system {0}, as part of the target pose for the tool;
• calculate orientations of the x-axis and the y-axis of the target coordinate system {r} expressed in the reference coordinate system {0} by:
• (1) a first cross product of the specified orientation of the axis and a direction vector, which is not parallel thereto, of a coordinate axis (x0, y0, z0) of the reference coordinate system {0}, and (2) a second cross product of a result of the first cross product and the specified orientation of the axis expressed in the reference coordinate system;
• and
• create a 4×4 matrix, which defines a pose 0Hr of the target coordinate system {r} with reference to the reference coordinate system {0} from the orientations of the coordinate axes (0xr, 0yr, 0zr) of the target coordinate system {r} expressed in each case in the reference coordinate system {0} and the three-dimensional spatial coordinates (0tr) of the point of the tool and from an additional 1×4 line vector.

A robot system comprising:

• a robot and a detection facility coupled thereto and arranged in a specified positional relationship thereto for detecting a marker arranged on the robot,
• wherein the robot system is configured automatically to determine an orientation of the marker from detection data provided by the detection facility, and
• wherein the robot system is further configured to:
• specify an axis of a tool;
• specify a Cartesian reference coordinate system originating on the robot foot;
• specify a Cartesian target coordinate system originating on a point of the tool, a z-axis corresponding to the axis of the tool, and an x-axis and a y-axis each with initially indeterminate orientations;
• specify three-dimensional spatial coordinates of the point of the tool and an orientation of the axis, expressed in each case in the reference coordinate system {0}, as part of the target pose for the tool;
• calculate orientations of the x-axis and the y-axis of the target coordinate system {r} expressed in the reference coordinate system {0} by:
• (1) a first cross product of the specified orientation of the axis and a direction vector, which is not parallel thereto, of a coordinate axis (x0, y0, z0) of the reference coordinate system {0}, and (2) a second cross product of a result of the first cross product and the specified orientation of the axis expressed in the reference coordinate system;
• and
• create a 4×4 matrix, which defines a pose 0Hr of the target coordinate system {r} with reference to the reference coordinate system {0} from the orientations of the coordinate axes (0xr, 0yr, 0zr) of the target coordinate system {r} expressed in each case in the reference coordinate system {0} and the three-dimensional spatial coordinates (0tr) of the point of the tool and from an additional 1×4 line vector.