Patent ID: 9266238
Filing Date: 2016-02-23
CPC Classification: B25J,G05B

Claim Text:
1. A robot control method for operating a robot system comprising a robot manipulator connected to a robot base, said robot manipulator comprising a plurality of manipulator axles, and said robot base comprising at least one base axle that is different from said manipulator axles, and a computerized robot controller in communication with said robot manipulator and said robot base, said method comprising: providing said robot controller with a robot program that causes said robot controller to operate said robot manipulator and said robot base from said robot controller according to the robot program by automatically controlling movement of said manipulator axles and said at least one base axle, to adjust a tool reference point of said robot manipulator dependent on a work point of the robot program, said work point having a position and an orientation associated therewith, said robot program providing target values for said position and said orientation of said work point; in said robot controller, from said target values, executing said robot program to determine planned values for a planned position and orientation of said robot base to be achieved by controlling movement of said at least one base axle by said robot controller in order to adjust said tool reference point dependent on said work point; in said robot controller, from said robot controller, automatically moving elements of said robot manipulator by adjusting the respective manipulator axles to the reverse-calculated axle values.