CONFIGURING AND/OR CONTROLLING A ROBOT ARRANGEMENT

WIPO Patent Application WO/2017/220199

A8

A method according to the invention comprises the step of: ascertaining (S110) at least one possible desired pose of a robot (10) of a robot arrangement for at least one prescribed initial position (Xa) and task of the robot on the basis of a selection set ({{R}i}), ascertained particularly before operation of the robot, of possible initial poses (Pa, ij) prescribed for this at least one task and initial position (Xa, i). Additionally or alternatively, the method comprises the steps of: ascertaining (S30) a starting set of initial poses (Pa, ij) of the robot for the at least one initial position (Xa, i) of the robot; selecting (S70) at least one initial pose (Pa, ij) from the starting set on the basis of the at least one task of the robot and a prescribed selection criterion (Gij), particularly one prescribed on a user input basis; and adding (S80) this initial pose to the selection set as a possible initial pose prescribed for this initial position and task.

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ZIMMERMANN UWE (DE)
DANZER MARINUS (DE)
SCHEURER CHRISTIAN (DE)
SHARMA SHASHANK (DE)
BODENMÜLLER TIM (DE)
STEMMER ANDREAS (DE)

PCT/EP2017/000716

February 22, 2018

June 20, 2017

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KUKA ROBOTER GMBH (DE)
DEUTSCH ZENTR LUFT & RAUMFAHRT (DE)

B25J9/16

SCHLOTTER, Alexander (DE)

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