Device for dynamic switching of robot control points

A robotic system comprising:

• a robot arm with one or more joints and provided with a tool interface movable in a plurality of degrees of freedom, and a tool centre point in space, said tool interface being able to hold an object;
• optionally a detection unit that detects a position and orientation of the object in space, said detection unit being programmable to detect a specific point in or on the object, said point being defined as an object interest point;
• a user operated control device that can dynamically switch between tool centre point and object interest point based teach modes, said control device adapted to let a user instruct movements of the robot arm thereby manually controlling the movement of the object relative to the tool centre point and/or object interest point;
• wherein switching from the tool centre point to object interest point based teach mode results in an operator being able to control robot movements relative to the object interest point.