Patent ID: 9579787
Date: 2017-02-28
CPC Classifications: B25J,G05B,Y10S

Claim:
1. A method of programming an industrial robot, the robot including a manipulator arm and a control device to actuate the manipulator arm, the control device configured to move the manipulator arm according to a robot program that is editable in a program mode and executable in an execution mode, wherein the robot program contains at least one program command to which is assigned at least one rigidity parameter via which, in the course of an automatic execution of the robot program in the execution mode, the control device is caused to automatically actuate the manipulator arm in a manner that is at least one of force- or torque-controlled according to the at least one rigidity parameter, the method comprising: selecting a program command, the assigned rigidity parameter of which is to be at least one of verified, changed or saved in the program mode; moving the manipulator arm into a test pose in the program mode, wherein the test pose is different from the pose associated with the selected program command and the pose of the manipulator arm is changeable by manual touching or moving by an operator; and automatically actuating the manipulator arm by the control device such that the manipulator arm in the test pose exhibits the rigidity corresponding to the assigned rigidity parameter of the selected program command.