Robot and method for operating a robot

A method of operating a robot, wherein the robot comprises movable elements ELEm that are drivable by actuators AKTn, and is designed to carry out a movement B with the elements ELEm, where n=1, 2, . . . , N, m=1, 2 . . . , M, N=1, 2, . . . , M=1, 2, . . . , and wherein the robot comprises a detection system to determine signals WGkB(t) of a group of measurement variables GkB, where k=1, 2, . . . , K and K≥1, characterizing the movement B of the elements ELEm and interactions thereof with an environment, the method comprising:

• determining, by the detection system, reference signals WGkBR(t) of the measurement variables GkB during at least one execution of the movement B of the elements ELEm, which is in a form of a reference movement B, wherein the reference signals WGkBR(t) include reference interactions of the elements ELEm with the environment, including external forces and/or torques acting on the elements ELEm;
• based on the reference signals WGkBR(t), using an adaptive method, automatically determining a mathematical model MGkB to describe the reference movement B including the reference interactions, by the measurement variables GkB;
• during a normal execution of the movement B:
• using the model MGkB, predicting signals WGkBP(t) to describe the reference movement B, including the reference interactions, by the measurement variables GkB;
• comparing the signals WGkB(t) determined currently during the normal execution of the movement B with the predicted signals WGkBP(t) to determine a deviation ΔGkB(t) between WGkBP(t) and WGkB(t), where k=1, 2, . . . , K and K≥1;
• in so far as the deviation ΔGkB(t) does not meet a predefined condition BEDGkB, based on the deviation ΔGkB(t), classifying the deviation ΔGkB(t) in one of a number I of predefined error categories Fi,GkB(ΔGkB(t)), where i=1, 2, . . . , I, wherein predefined information and/or automatically predictable control information SFi,GkB(t) for the actuator AKTk are produced for each of the error categories Fi,GkB(ΔGkB(t));
• and
• controlling the actuators AKTk taking into account the control information SFi,GkB(t).