Patent ID: 9393687
Filing Date: 2016-07-19
CPC Classification: B25J,G05B,Y10S

Claim Text:
1. A method for programming an industrial robot with a control device, comprising: actuating drives of a manipulator arm of the industrial robot with the control device to facilitate manual movement of the manipulator arm; manually moving and guiding the manipulator arm of the industrial robot by touching contact by an operator with the manipulator arm into at least one pose; selecting a program instruction from a plurality of available program instructions, to which parameters are to be saved; continuously recording and buffering with the control device at least one control variable, which is to be entered in a robot program, in predefined time steps during the manually guided movement of the manipulator arm; continuously recording with the control device at least one position-related variable and/or at least one motion-related variable of respective instantaneous poses of the manipulator arm in predefined time steps during the manually guided movement of the manipulator arm; comparing the position-related and/or motion-related variables, which are recorded in predefined time steps, with predefined position-related and/or motion-related variables, which represent a termination criterion; wherein the termination criterion is a characteristic motion of the manipulator arm or a characteristic standstill of the manipulator arm that is interpreted by the control device as a command to enter the control variable as a parameter of the selected program instruction; and saving one of the control variables as a parameter of the selected program instruction in the robot program, when one of the continuously recorded position-related and/or motion-related variables satisfies the termination criterion.