Patent ID: 9555546
Date: 2017-01-31
CPC Classifications: B25J,G05B

Claim:
1. A control method that determines a sequence of path points to be approached by an end effector of an operating machine in a given number of degrees of freedom, comprising the steps of: ascertaining a control signal group for each of the path points in the sequence, so that the respective control signal group for each path point contains respective position set points for a number of position-controlled axes of the operating machine for that path point, wherein the given number of degrees of freedom is smaller than the number of position-controlled axes; ascertaining position set point values of the control signal groups by minimizing a respective objective function while currently approaching a path point of one of the control signal groups, at that time the respective objective function including at least the position set point values for a path point only to be approached in the future and one other path point between the path point currently being approached and the path point to be approached in the future in the sequence of path points; and activating ascertained position set point values by providing the ascertained position set point values to the axes, each control signal group being ascertained such that the end effector approaches respective path points at least approximately during the activation of the position-controlled axes, and control signal groups are ascertained gradually during the activation of the position-controlled axes; and moving the end effector with the axes using the ascertained position set point values.