Method and system for operating a robot

A system for operating a robot, the system comprising at least one of:

• means for visually displaying at least one of:
• an indication that at least one first direction of movement of the robot fixed reference is not being monitored by a controller on the basis of detected joint loads, in which first direction an external load at the robot-fixed reference is not reliably detectable on the basis of detected joint loads due to the vicinity of a pose of the robot to a singularity position of the robot, or
• an indication that at least one second direction of movement of the robot fixed reference is monitorable on the basis of detected joint loads, in which second direction an external load at the robot-fixed reference is reliably detectable on the basis of detected joint loads despite the vicinity of the robot pose to the singularity position;
• or
• means for:
• blocking the robot-fixed reference against movement in the at least one first direction in response to an external load at the robot-fixed reference in the at least one first direction being not reliably detectable on the basis of detected joint loads due to the vicinity of the robot to a singular position, and
• carrying out a monitoring process of an external load at the robot-fixed reference in the at least one second direction on the basis of detected joint loads in response to the at least one first direction being blocked and multiple joints of the robot being simultaneously actuated.

A computer program product for operating a robot, the computer program product comprising a program code stored on a non-transitory, computer-readable medium, the program code, when executed on a computer, causing the computer to at least one of:

• visually display at least one of:
• an indication that at least one first direction of movement of a robot fixed reference is not being monitored by a controller on the basis of detected joint loads, in which first direction an external load at the robot-fixed reference is not reliably detectable on the basis of detected joint loads due to the vicinity of a pose of the robot to a singularity position of the robot, or
• an indication that at least one second direction of movement of the robot fixed reference is monitorable on the basis of detected joint loads, in which second direction an external load at the robot-fixed reference is reliably detectable on the basis of detected joint loads despite the vicinity of the robot pose to the singularity position;
• or
• perform the following:
• block the robot-fixed reference against movement in the at least one first direction in response to an external load at the robot-fixed reference in the at least one first direction being not reliably detectable on the basis of detected joint loads due to the vicinity of the robot pose to a singularity position, and
• carry out a monitoring process of an external load at the robot-fixed reference in the at least one second direction on the basis of detected joint loads in response to the at least one first direction being blocked and multiple joints of the robot being simultaneously actuated.