Method for controlling a robot

A method for controlling a robot including a plurality of arms each movable about at least one axis, the method comprising:

• centering a tool over a center of a region of a workpiece in which a hole is to be cut;
• moving a tool center point to coincide with a wrist center point;
• determining a relationship between a first reorientation angle in a first plane and a limit of movement of the robot in the first plane during cutting of the hole;
• determining a relationship between a second reorientation angle in a second plane and a limit of movement of the robot in the second plane during cutting of the hole;
• calculating maximum and minimum values of the first reorientation angle and the second reorientation angle;
• and
• cutting a hole in a workpiece with the robot by moving only two or three of the arms about their respective axes while maintaining all remaining arms immobile.

An industrial robot, comprising:

• a plurality of interconnected arms, each arm being movable about at least one axis;
• a tool arranged on one of the arms;
• and
• a controller operative to control movement of the arms and tool to cut a hole in a workpiece while moving only two or three of the arms about their respective axes while immobilizing all remaining arms during cutting of the hole.