A method of operating a robot, robots, and robot system

Abstract

The invention relates to a method of operating a robot comprising a link chain with at least two coupling elements, of which a first coupling member is connected pivotally on a rotatable about a first axis of rotation driven crank member in a second rotational axis, and a second coupling member in a third pivot axis pivotally is connected to the first coupling member, at the second axis of rotation, a drive for the first coupling member is arranged and the second coupling member comprises a Effektordrehpunkt at its opposite end region of the first coupling member, the method is designed such that the crank member and the first coupling member to be driven such that the Effektordrehpunkt remains in a certain angular range in a rest position during the rotation of the crank member. According to the invention, that for shortening the residence time of the Effektordrehpunktes in the rest position by means of the actuator to the second rotating axis, a torque is applied to the first coupling member which is in the period of the desired residence time of more than 5% of the torque, which is the realization of a stay of the Effektordrehpunktes with unabridged residence time would be necessary. Furthermore, the invention relates to a robot for performing the method.