Patent ID: 8527092

Claim:
A control method for a multiaxial robot, comprising: predetermining a robot path through a plurality of path points, which are intended to be traversed by a reference point of the robot, the individual path points each being defined by spatial coordinates, converting the spatial coordinates of the individual path points in accordance with inverse robot kinematics into corresponding axis coordinates, the axis coordinates representing the position of the individual robot axes at the respective path points, actuating axis-related controllers for the individual robot axes in accordance with the converted axis coordinates, actuating axis-related drive motors in the individual robot axes by at least the associated axis-related controllers, and further comprising: computing a torque vector M based on a sum of actual torque values associated with the multiaxial robot, including known external torque M EXT and an internal torque M INT of the multiaxial robot, the internal torque M INT representing the internal torque of the drive motors and the associated robot axes, determining path correction values for the individual path points on the robot path in accordance with a dynamic robot model, the path correction values based at least in part on the torque vector and taking account of the elasticity and/or friction and/or inertia of the robot, determining corrected axis coordinates for the individual path points from uncorrected axis coordinates of the individual path points and the path correction values, and actuating the axis-related controllers with at least the corrected axis coordinates.