Patent ID: 7742838

Claim:
A method for controlling a robotic device, comprising the steps of: electronically storing a plurality of control algorithms in a first memory, that each contain control code that operates a robotic device by causing components of the robotic device, articulated with respect to each other at respective axes, to execute respective motions dependent on said control code; electronically storing a plurality of model modules in a second memory, separate from said first memory, that each contain an exclusively mathematical model of a kinematic structure of said robotic device that mathematically represents at least said motions and said axes, and that contains no control code, and that must be transformed in order to be used by the respective control algorithms in order to operate said robotic device; through an interface of a control unit of said robotic device, accessing at least one of said model modules from said second memory for current use in operating said robotic device as a pre-setting for said robotic device; in a computerized checking module, automatically checking compatibility of said presetting with said control algorithms by determining at least whether said pre-setting can be transformed for use by said control algorithms; and when said checking module indicates that said presetting is compatible, automatically operating said robotic device from said control unit to execute at least some of said control algorithms with said pre-setting.