Method and apparatus for failure handling of a robot

A non-transitory computer readable digital storage medium having stored thereon a computer program having a program code for performing, when running on a computer, a method for failure handling of a robot having at least a first movement axis and a second movement axis, the method comprising:

• recording a trajectory of the robot during operation, wherein recording comprises:
• receiving, during the operation, a first position information of the first movement axis for a first point of time and a first position information of the second movement axis for the first point of time and storing the received first position information as motion data set;
• and
• receiving, during the operation, a second position information of the first movement axis for a second point of time and a second position information of the second movement axis for the second point of time and storing the received second position information in the motion data set;
• and
• controlling the robot according to a failure procedure if a robot failure is detected, the failure procedure comprising:
• triggering the robot to move the first and second movement axes to second positions of the first and second movement axes;
• and
• triggering the robot to move the first and second movement axes to first positions of the first and second movement axes.

An apparatus for failure handling of a robot having at least a first movement axis and a second movement axis, wherein the apparatus comprises a processor for controlling the robot, wherein the apparatus comprises a first interface for receiving position information and a second interface for controlling the robot, and wherein the apparatus is configured to:

• record a trajectory of the robot during operation by receiving a position information of the first and the second movement axes of the robot;
• store motion data using a memory;
• and
• control the robot if the robot causes a failure via control signals which are based on the stored motion data,
• wherein the stored motion data comprise a first position information of the first movement axis for a first point of time during the operation, a second position information of the first movement axis for a second point of time during the operation, a first position information of the second movement axis for the first point of time during the operation and a second position information of the second movement axis for the second point of time during the operation,
• wherein the control signals comprise a first control signal triggering the robot to move the first and second movement axes to second positions of the first and second movement axes and a second control signal triggering the robot to move the first and second movement axes to first positions of the first and second movement axes, and
• wherein the first control signal is output before outputting the second control signal such that the robot moves to the second positions of the first and second movement axes before moving to the first positions of the first and second movement axes.

A controller for controlling a robot having at least a first movement axis and a second movement axis, wherein the controller comprises a processor for controlling the robot, and wherein the controller is configured to:

• control the first and the second movement axes according to a control algorithm;
• record a trajectory of the robot during operation;
• store motion data using a memory;
• and
• control the robot if the robot causes a failure via control signals which are based on the stored motion data,
• wherein the stored motion data comprise a first position information of the first movement axis for a first point of time during the operation, a second position information of the first movement axis for a second point of time during the operation, a first position information of the second movement axis for the first point of time during the operation and a second position information of the second movement axis for the second point of time during the operation,
• wherein the control signals comprise a first control signal triggering the robot to move the first and second movement axes to second positions of the first and second movement axes and a second control signal triggering the robot to move the first and second movement axes to first positions of the first and second movement axes, and
• wherein the first control signal is output before outputting the second control signal such that the robot moves to the second positions of the first and second movement axes before moving to the first positions of the first and second movement axes.

A robot comprising:

• a first movement axis;
• a second movement axis;
• a controller for controlling the first and second movement axes;
• and
• an apparatus for failure handling, the apparatus being configured to record a trajectory of the robot during operation, to store motion data using a memory and to control the robot if the robot causes a failure via control signals which are based on the stored motion data,
• wherein the stored motion data comprise a first position information of the first movement axis for a first point of time during the operation, a second position information of the first movement axis for a second point of time during the operation, a first position information of the second movement axis for the first point of time during the operation and a second position information of the second movement axis for the second point of time during the operation,
• wherein the control signals comprise a first control signal triggering the robot to move the first and second movement axes to second positions of the first and second movement axes and a second control signal triggering the robot to move the first and second movement axes to first positions of the first and second movement axes, and
• wherein the first control signal is output before outputting the second control signal such that the robot moves to the second positions of the first and second movement axes before moving to the first positions of the first and second movement axes.