Patent ID: 9317032
Filing Date: 2016-04-19
CPC Classification: B25J,G05B

Claim Text:
1. A method of operating a robot including a robot arm controlled by a control device, the robot arm comprising a plurality of sequentially arranged links, an attaching device for attaching an end effector, and drives for moving the links, the control device having a hierarchical control strategy that includes a plurality of differently-prioritized control functionalities, the method comprising: operating the robot arm in a first control functionality, and not in a second, higher-prioritized control functionality; determining when an execution condition that is independent of the second, higher-prioritized control functionality exists; when the execution condition exists, switching control from the first control functionality to the second, higher-prioritized control functionality during movement of the robot arm when stable movement of the robot arm is possible with the second control functionality; wherein the plurality of control functionalities includes control functionalities for moving the robot arm in at least two degrees of freedom, and wherein the control functionalities for movement of the robot arm in one of the at least two degrees of freedom are independent of control functionalities for moving the robot arm in the other of the at least two degrees of freedom, the method further comprising: switching between control functionalities for movement of the robot arm in one of the at least two degrees of freedom independently of switching between control functionalities for moving the robot arm in the other of the at least two degrees of freedom; determining when at least one of the following events occurs: switching from the second, higher-prioritized control functionality to a lower-prioritized control functionality during the movement of the robot arm if at least one of the events occurs.