Method for operating a robot and robotic arm

1. A method for operating a robot, the method comprising:

determining, by a data processing device, a difference between a current position of the robot and a target position of the robot;

identifying, by the data processing device, when the difference exceeds a predetermined threshold value while the robot is in a torque-regulated operating mode;

modelling a motion of the robot in the torque-regulated operating mode by modeling in torque space and in axis space a spring connecting the current position with the target position;

determining, by the data processing device, a predicted model-based intermediate state that the robot reaches before the target position according to the model, wherein a speed of the robot in the intermediate state is lower than a predetermined speed threshold;

automatically switching, by a control device, when the robot reaches the intermediate state, the robot from the torque-regulated operating mode to a position-regulated operating mode; and

moving, by the control device, the robot into the target position in the position-regulated operating mode.

2. The method of claim 1 , wherein the predetermined threshold value is an average contouring error of the robot.

3. The method of claim 1 , wherein, in switching to the position-regulated operating mode, the robot is set to a higher stiffness setting than was present in the torque-regulated operating mode.

4. The method of claim 1 , wherein the intermediate state is determined based on an interpolation of the motion of the robot between the current position and the target position.

5. The method of claim 1 ,

wherein an inflection point of a motion of the spring is determined as the intermediate state.

6. The method of claim 1 , further comprising:

switching, by the control device, back to the torque-regulated operating mode after the robot has reached the target position.

7. A method for operating a robot, the method comprising:

determining, by a data processing device, a difference between a current position of the robot and a target position of the robot;

identifying, by the data processing device, when the difference exceeds a predetermined threshold value while the robot is in a torque-regulated operating mode;

determining, by the data processing device, a predicted model-based intermediate state that the robot reaches before the target position according to a model, wherein a speed of the robot in the intermediate state is lower than a predetermined speed threshold;

automatically switching, by a control device, when the robot reaches the intermediate state, the robot from the torque-regulated operating mode to a position-regulated operating mode; and

moving, by the control device, the robot into the target position in the position-regulated operating mode,

wherein, in dependence on a provided optimization criterion, the model used for determining the intermediate state is adapted from multiple predetermined models, chosen from the multiple predetermined models, or a combination thereof.

8. The method of claim 7 , wherein the provided optimization criterion is a maximized Cartesian positioning accuracy, a maximized accuracy in axis space, a maximized rate of convergence to the target position, minimized jerk values of the motion of the robot, or a combination thereof.

9. The method of claim 7 , wherein the predetermined threshold value is an average contouring error of the robot.

10. The method of claim 7 , wherein, in switching to the position-regulated operating mode, the robot is set to a higher stiffness setting than was present in the torque-regulated operating mode.

11. The method of claim 7 , wherein the intermediate state is determined based on an interpolation of a motion of the robot between the current position and the target position.

12. The method of claim 7 , wherein a motion of the robot in the torque-regulated operating mode is modelled by modelling in torque space and in axis space a spring connecting the current position with the target position, and

wherein an inflection point of a motion of the spring is determined as the intermediate state.

13. The method of claim 7 , further comprising:

switching, by the control device, back to the torque-regulated operating mode after the robot has reached the target position.

14. A method for operating a robot, the method comprising:

providing a value for a mass of the robot and a value for a mass of a load the robot is carrying;

determining, by a data processing device, a difference between a current position of the robot and a target position of the robot;

identifying, by the data processing device, when the difference exceeds a predetermined threshold value while the robot is in a torque-regulated operating mode;

determining, by the data processing device, a predicted model-based intermediate state that the robot reaches before the target position according to a model, wherein a speed of the robot in the intermediate state is lower than a predetermined speed threshold;

automatically switching, by a control device, when the robot reaches the intermediate state, the robot from the torque-regulated operating mode to a position-regulated operating mode, wherein, for the switching to the position-regulated operating mode, the current position of the robot is calculated based on the provided mass values of the robot and the load and a torque value measured in the torque-regulated operating mode; and

moving, by the control device, the robot into the target position in the position-regulated operating mode.

15. The method of claim 14 , wherein the predetermined threshold value is an average contouring error of the robot.

16. The method of claim 14 , wherein, in switching to the position-regulated operating mode, the robot is set to a higher stiffness setting than was present in the torque-regulated operating mode.

17. The method of claim 14 , wherein the intermediate state is determined based on an interpolation of a motion of the robot between the current position and the target position.

18. The method of claim 14 , wherein a motion of the robot in the torque-regulated operating mode is modelled by modelling in torque space and in axis space a spring connecting the current position with the target position, and

wherein an inflection point of a motion of the spring is determined as the intermediate state.

19. The method of claim 14 , further comprising:

switching, by the control device, back to the torque-regulated operating mode after the robot has reached the target position.

20. A robotic system comprising:

a robot having multiple degrees of freedom;

a data processing device; and

a control device for regulating the robot in dependence on output data provided by the data processing device,

wherein the data processing device is configured to:

determine a difference between a current position of the robot and a target position of the robot,

identify when the difference exceeds a predetermined threshold value while the robot is in a torque-regulated operating mode,

model a motion of the robot in the torque-regulated operating mode by modeling in torque space and in axis space a spring connecting the current position with the target position, and

determine a predicted model-based intermediate state, that the robot reaches before the target position according to the model, wherein a speed of the robot in the intermediate state is lower than a predetermined speed threshold, and

wherein the control device is configured to:

automatically switch the robot from the torque-regulated operating mode to a position-regulated operating mode when the robot reaches the intermediate state, and

steer the robot into the target position in the position-regulated operating mode.