Robot with control system for discrete manual input of positions and/or poses

Abstract

The invention relates to a robot, a robot control system, and a method for controlling a robot. The robot comprises a movable, multi-membered robot structure () that can be driven by means of actuators (), at least one marked structural element S being defined on the movable robot structure (), with at least one point Pmarked on the structural element S. The robot is designed such that, in an input mode, it learns positions POSof the point PS and/or poses of the structural element S in a work space of the robot, the user exerting an input force Fon the movable robot structure in order to move the structural element S, which is conveyed to the point Pas F, and/or to the structural element S as torque M. A control device () of the robot is designed such that, in the input mode, the actuators () are controlled on the basis of a pre-defined space-fixed virtual 3D grid that at least partially fills the work space, such that the structural element S is moved with a pre-defined force F(POS), according to the current position POSof the point Pin the 3D grid, to the adjacent grid point of the 3D grid or in a grid point space defined around the adjacent grid point of the 3D grid, the point Pof the structural element S remaining on said adjacent grid point or in said grid point space in the event of the following holding true: |F|<|F(POS) and/or, in the input mode, the actuators () are controlled on the basis of a pre-defined virtual discrete 3D orientation space O, where the 3D orientation space O=: (α, β, γ) where i=1, 2, . . . , I, j=1, 2, . . . J, k=1, 2, . . . , K is defined or can be defined by a pre-defined angle α, β, γ, in such a way that the structural element S is moved with a pre-defined torque)(SO ROM according to the current orientation ORof the structural element, towards the adjacent discrete orientation of the 3D orientation space O=: (α, β, γ), S, the structural element remaining in said adjacent discrete orientation of the 3D orientation space O in the event that the following holds true: |M|<|M(OR).