Method for operating a robot, robot, translation robot, robot system and method for operating the robot system
According to the invention, a torque is applied to the first coupling link by means of the drive on the second rotation axis in order to shorten the dwell time of the effector rotation point, which torque in the timespan of the desired dwell duration equals a maximum of 5% of the torque that would be necessary to implement a dwelling of the effected rotation point having an unshortened dwell duration.
Abstract
The invention relates to a method for operating a robot, which comprises a link chain having at least two coupling links, a first coupling link thereof being connected to a driven crank link, which can be rotated around a first rotation axis, in a second rotation axis in a pivoting manner, and a second coupling link thereof being connected to the first coupling link in a third rotation axis in a pivoting manner. A drive for the first coupling link is arranged on the second rotation axis and the second coupling link has an effector rotation point on the end region thereof which is opposite the first coupling link, wherein the method is designed such that the crank link and the first coupling link are driven in such a manner that the effector rotation point dwells in a resting position during the rotation of the crank link in a specific angle range. According to the invention, a torque is applied to the first coupling link by means of the drive on the second rotation axis in order to shorten the dwell time of the effector rotation point, which torque in the timespan of the desired dwell duration equals a maximum of 5% of the torque that would be necessary to implement a dwelling of the effector rotation point having an unshortened dwell duration. The invention furthermore relates to a robot for carrying out the method.