Method and system for transferring an end effector of a robot between one end effector pose and a further end effector pose

A method for transferring an end effector of a robot between a first end effector pose and a second end effector pose, the method comprising:

• for at least one first axis of the robot, specifying the same, uniform progression of a position of the at least one first axis for the transfer between the first end effector pose and one second end effector pose, and for transfers between the first end effector pose and a group of other second end effector poses;
• and
• for at least one second axis of the robot, commanding different progressions of a position of the at least one second axis for the transfer between the first end effector pose and the one second end effector pose, and for the transfer between the first end effector pose and at least one of the other second end effector poses.

A system for transferring an end effector of a robot between a first end effector pose and a second end effector pose, the system comprising:

• means for specifying, for at least one first axis of the robot, the same, uniform progression of the position of the at least one first axis for the transfer between the first end effector pose and one second end effector pose, and for transfers between the first end effector pose and a group of other second end effector poses;
• and
• means for commanding, for at least one second axis of the robot, different progressions of the position of the at least one second axis for the transfer between the first end effector pose and the one second end effector pose, and for the transfer between the first end effector pose and at least one of the other second end effector poses.

A computer program product for transferring an end effector of a robot between a first end effector pose and a second end effector pose the computer program product including machine-readable program code stored on a non-transitory storage medium, the program code, when executed by a computer, causing the computer to:

• for at least one first axis of the robot, specify the same, uniform progression of the position of the at least one first axis for the transfer between the first end effector pose and one second end effector pose, and for transfers between the first end effector pose and a group of other second end effector poses;
• and
• for at least one second axis of the robot, command different progressions of the position of the at least one second axis for the transfer between the first end effector pose and the one second end effector pose, and for the transfer between the first end effector pose and at least one of the other second end effector poses.