Method and system for operating a robot

Abstract

For operating the robot (10), at least one first direction is shown (S20) in which an external load (f x ) on the reference object cannot be reliably detected on the basis of the detected joint loads due to a singular pose of the robot being approached, and / or at least one second direction is shown (S20) in which an external load (f z ) on the reference object can be reliably detected on the basis of the detected joint loads despite the singular pose being approached. Additionally or alternatively, at least one first direction is blocked (S20) in which an external load (f x ) on the reference object cannot be reliably detected on the basis of the detected joint loads due to a singular pose of the robot being approached, and in the case of a simultaneous adjustment of a plurality of joints of the robot in at least one blocked direction, monitoring of an external load (f z ) on the reference object on the basis of the detected joint loads is provided in at least one second direction in which an external load on the reference object can be reliably detected on the basis of the detected joint loads despite the singular pose being approached.

Description

Technical Field

[0001] The present invention relates to a method for operating a robot, a system for performing the method, and a computer program product. Background Technology

[0002] In robotics, the transpose Jacobian matrix is ​​obtained by differentiating the joint velocities with respect to the velocities of a reference object fixed to the robot. J Loads fixed to a reference point (e.g., TCP) of the robot f and the joint loads caused by it Interconversion:

[0003] = J T f

[0004] In principle, this in turn allows the determination of external loads based on detected joint loads, and thus, in particular, allows for monitoring of the robot's collisions at reference points during movement by monitoring the corresponding load boundary values, etc., especially (pinch) crushing injuries.

[0005] However, near the robot's singular pose, the condition of the Jacobian matrix is ​​poor, and a rank fall occurs under the singular pose. As the robot approaches the singular pose, especially due to measurement noise, numerical effects, etc., the accuracy of determining external loads based on detected joint loads may decrease.

[0006] Therefore, patent document DE102017204211A1 heuristically proposes that if the robot "already exists" near the exotic configuration, then only the joints should be rotated.

[0007] However, this severely limits the possibilities for movement. Summary of the Invention

[0008] The purpose of this invention is to improve the operation of robots.

[0009] The objective of this invention is achieved by a method having the features described in the technical solution of this invention. The technical solution of this invention also claims protection for a system or a computer program product for performing the method described herein.

[0010] According to one embodiment of the present invention, in order to plan and / or execute motion fixed to a reference point of the robot, particularly in this process,

[0011] - At least one first direction, in one embodiment, is displayed (Anzeigen) such as or, for example, with a corresponding identifier such as coloring, as not being monitored based on detected joint loads, in which at least one first direction, external loads on the reference object cannot be reliably detected based on detected joint loads due to the approaching singular posture of the robot, or in other words, it has been determined that external loads on the reference object cannot be reliably detected based on detected joint loads due to the approaching singular posture of the robot, especially if it has been determined that external loads on the reference object cannot be reliably detected based on detected joint loads in this first direction due to the approaching singular posture of the robot;

[0012] and / or

[0013] - At least one direction, referred to as a second direction without loss of generality and in particular without requiring a first direction as a prerequisite, is displayed as such or, for example (otherwise), with corresponding markings such as coloring, and is displayed as capable of being monitored based on detected joint loads. In this at least one direction, external loads on a reference object can still be reliably detected based on detected joint loads, even though they are close to the robot's singular posture. Or, it has been determined that external loads on a reference object can still be reliably detected based on detected joint loads, even though they are close to the robot's singular posture, especially if it has been determined that external loads on a reference object can still be reliably detected based on detected joint loads in this second direction, even though they are close to the robot's singular posture.

[0014] Thus, in one implementation, when planning a motion, it can be checked whether an external load that is not reliably detected or cannot be reliably detected in a certain direction represents an (excessive) risk, and in one implementation, the motion and / or environment is replanned accordingly, or it is acceptable because, for example, there is sufficient clearance in that direction to avoid pinching, or there are no or possibly no obstacles in that direction.

[0015] In one implementation, this approach allows for greater mobility possibilities for the robot and / or improved safety, thereby enhancing the robot's operation.

[0016] Similarly, during the execution of movement, it can be taken into account that external loads cannot be reliably detected in a certain direction, and it can be decided during operation whether to continue using that direction or avoid it due to, for example, sufficient clearance or lack of obstacles.

[0017] In one implementation, this approach allows for greater mobility possibilities for the robot and / or improved safety, thereby enhancing the robot's operation.

[0018] In one embodiment, the robot has at least one robotic arm and / or at least three joints, particularly at least six joints, in one embodiment at least seven joints, and in one embodiment rotary joints. That is, the robot particularly has a robotic arm with at least three, particularly at least six, in one embodiment at least seven joints, and in one embodiment rotary joints.

[0019] The present invention is particularly well suited here, especially due to its possible uses and uniqueness.

[0020] In one implementation,

[0021] - At least two first directions, in one embodiment, are shown as such or, for example, marked with corresponding symbols such as coloring, are shown as not being monitored based on detected joint loads, in which external loads on each reference point cannot be reliably detected based on detected joint loads due to the approaching singular posture of the robot, or in other words, it has been determined that external loads on reference points cannot be reliably detected based on detected joint loads due to the approaching singular posture of the robot, especially if it has been determined that external loads on reference points along the first direction cannot be reliably detected based on detected joint loads due to the approaching singular posture of the robot;

[0022] and / or

[0023] - At least two second directions, in one embodiment, are displayed as such or, for example (otherwise), with corresponding markings such as coloring, and are displayed as being able to be monitored based on detected joint loads, in which external loads on each reference point can still be reliably detected based on detected joint loads despite the robot’s singular posture, or it has been determined that external loads on reference points can still be reliably detected based on detected joint loads despite the robot’s singular posture, particularly if it has been determined that external loads on reference points can still be reliably detected based on detected joint loads despite the robot’s singular posture in this second direction.

[0024] Thus, in one implementation, more complex movements near unusual postures can be planned or executed better, and in particular more safely, thereby (further) improving the operation of the robot.

[0025] In one implementation, for example by activating a corresponding lighting device or symbol, only one or more first directions are displayed, thereby displaying those directions as if they were not monitored based on detected joint loads.

[0026] In another implementation, for example by activating a corresponding lighting device or symbol, only the second direction(s) are displayed, thereby displaying the direction(s) as if it were being monitored based on the detected joint load.

[0027] Thus, in one implementation, clarity and security can be further improved, and therefore the operation of the robot can be further improved.

[0028] In another implementation, for example by activating corresponding lighting devices or symbols, not only one or more first directions are displayed, but also one or more second directions are displayed. Subsequently, additionally by corresponding identifiers, such as different colors, lighting devices, symbols, etc., the corresponding directions are displayed either as being monitored based on the detected joint load or as being able to be monitored based on the detected joint load. For example, one or more first directions are displayed as being monitored based on the detected joint load, or as a warning color (e.g., red), a dashed line, or an unfilled symbol, etc., and one or more second directions are displayed as being able to be monitored based on the detected joint load, or as another color (e.g., green, blue, white, or a solid line or a filled symbol, etc.).

[0029] Two or more first directions or two or more second directions may define a one-dimensional, two-dimensional, three-dimensional, or multi-dimensional hyperspace, for example, two directions defining a hyperspace in planar form, particularly a (hyper)space of possible linear combinations of directions. In one embodiment, the display of two or more first directions and / or the display of two or more second directions may include the display of the respective space itself, particularly, for example, a graphical visualization of a plane unfolded by two first or second directions.

[0030] In one implementation, a warning, preferably visual and / or auditory, is issued if an external load on a reference object cannot be reliably detected based on detected joint loads in the at least one first direction due to the unusual posture of the approaching robot.

[0031] Thus, in one implementation, the user's attention can be directed to one or more directions that are not monitored based on detected joint loads, thereby particularly improving safety and thus (further) improving the operation of the robot.

[0032] In one embodiment, at least one first direction, and in an extended embodiment, at least two first directions, are displayed on the robot. In another embodiment, they are visualized, for example, by corresponding lighting devices, coloring, etc., in the (corresponding) directions.

[0033] Additionally or alternatively, in one embodiment at least one second direction, in an extended embodiment at least two second directions, are displayed on the robot, and in one embodiment, they are visualized, for example, by corresponding lighting devices, coloring, etc., in the (corresponding) directions.

[0034] Additionally or alternatively, in one embodiment, a warning is issued on the robot, particularly visually and / or audibly, or in another embodiment, a warning is displayed.

[0035] Thus, in one implementation, safety can be improved and therefore the operation of the robot can be (further) improved.

[0036] Additionally or alternatively, in one embodiment, at least one first direction; in an extended embodiment, at least two first directions and / or at least one second direction; in an extended embodiment, at least two second directions and / or warnings, such as by arrows and / or lighting devices and / or by robot demonstrations or animations, are output on an operating device for controlling the robot, preferably a portable operating device, in one embodiment a handheld operating device, particularly a display, and in one embodiment a graphical visualization. In one embodiment, the operating device for controlling the robot communicates with the robot or robot controller, particularly via wired or wireless communication, or is designed or used for this purpose.

[0037] Therefore, in one implementation, the ergonomics of the robot can be further improved, and thus the operation of the robot can be improved.

[0038] Additionally or alternatively, in one embodiment, at least one first direction, in an extended embodiment at least two first directions and / or at least one second direction, in an extended embodiment at least two second directions and / or warnings, such as by arrows and / or by robot demonstrations or animations, are output, particularly displayed, and in one embodiment, are graphically visualized, in a simulated environment for simulating motion.

[0039] Thus, in one implementation, safety can be improved and therefore the operation of the robot can be (further) improved.

[0040] In one implementation, during the movement of the reference object, monitoring of external loads on the reference object is provided, particularly implemented or performed, in at least one second direction, or in an extended embodiment, in at least two second directions.

[0041] Thus, in one implementation, safety can be improved and therefore the operation of the robot can be (further) improved.

[0042] According to one embodiment of the invention (which may be implemented in conjunction with or independently of the foregoing aspects), in order to plan and / or execute the movement of a reference fixed to a robot, particularly in this process, if (determined) an external load on the reference cannot be reliably detected based on a detected joint load in at least one first direction due to proximity to a singular posture of the robot, then the at least one first direction is blocked, and in the case where the at least one direction is blocked and multiple joints of the robot are simultaneously adjusted, or in other words, during the period when the at least one first direction is blocked and multiple joints of the robot are simultaneously adjusted, monitoring of the external load on the reference in at least one second direction based on a detected joint load is provided, in one embodiment, for implementation or execution, in which the external load on the reference can still be reliably detected based on a detected joint load despite proximity to a singular posture.

[0043] In one implementation, by allowing simultaneous adjustment of multiple joints of the robot also near singular postures, and providing monitoring of external loads on a reference object based on detected joint loads in one or more resulting second directions, the possibilities of motion and / or safety can be expanded and / or safety improved, and thus the operation of the robot can be improved, compared to patent document DE102017204211A1.

[0044] As described above, the aspects of display and blocking can be combined by not only displaying but also blocking (one or more) of the first direction. In this way, the user can more easily understand why a certain direction is currently unavailable. Similarly, display can be implemented without blocking, and blocking can be implemented without display, especially as explained elsewhere, where, despite the presence of a display, if, for example, there is sufficient clearance in the first direction or there is no obstacle in the first direction, the user can consciously choose to move along the first direction.

[0045] In one implementation, if an external load on a reference object cannot be reliably detected based on detected joint loads in at least two first directions due to the strange posture of the approaching robot, then the at least two first directions are blocked.

[0046] Additionally or alternatively, in one embodiment, when at least one first direction is blocked and multiple joints are adjusted simultaneously, monitoring of external loads on a reference object based on detected joint loads is provided, or in one embodiment, for implementation or execution in at least two second directions, in which external loads on the reference object can still be reliably detected based on detected joint loads despite approaching a singular orientation.

[0047] Therefore, in one implementation, complex motions can be planned or executed better, and in particular more safely, thereby (further) improving the operation of the robot, in which external loads can be reliably or unreliably detected in different directions due to proximity to singular postures during these complex motions.

[0048] In one embodiment, at least one first direction, or one or more first directions and / or at least one second direction, or one or more second directions, have translational and / or rotational directions, that is, they may be, in particular, displacement or rotation or a combination thereof.

[0049] Additionally or alternatively, in one embodiment, at least one first direction, or one or more first directions, and / or at least one second direction, or one or more second directions, are determined based on the Jacobian matrix between the velocity of the reference object and the joint velocity. In one embodiment, the first direction(s) corresponds to the null space, and in another embodiment, it corresponds to the zero row or zero column of the Jacobian matrix, particularly the transposed Jacobian matrix. In the above determination based on the Jacobian matrix, the Jacobian matrix can also be used indirectly or in combination, for example, in the form of a pseudoinverse of the Jacobian matrix, such as the Moore-Penrose pseudoinverse.

[0050] In one implementation, compared to the heuristic scheme of patent document DE102017204211A1, the use of Jacobi matrices can expand the possibilities of motion and / or improve safety, and thus improve the operation of the robot.

[0051] In one embodiment, the reference point is a reference point fixed to the robot end flange, preferably a TCP. Since the movement of the tool or workpiece fastened to the robot end flange is generally expected when operating the robot, and the robot end flange typically moves relatively faster and / or has a wider range of motion compared to other robot segments, the present invention can be particularly advantageous for a reference point fixed to the robot end flange.

[0052] According to one embodiment of the invention, a system for operating a robot, particularly designed with hardware and / or software techniques, especially programming techniques, to perform the methods described herein, and / or having:

[0053] - A means for displaying at least one first direction as not monitored based on detected joint loads and / or displaying at least one second direction as monitorable based on detected joint loads, wherein in the at least one first direction, external loads on a reference object cannot be reliably detected based on detected joint loads due to proximity to the robot's singular posture; wherein in the at least one second direction, external loads on a reference object can still be reliably detected based on detected joint loads despite proximity to the robot's singular posture, more specifically for planning and / or executing motion of a reference object fixed to the robot, particularly during this period.

[0054] and / or

[0055] - A means for blocking an external load on a reference in at least one first direction where the external load cannot be reliably detected based on the detected joint load due to the proximity of the robot to a singular posture, and for monitoring an external load on a reference in at least one second direction based on the detected joint load in the case where the external load on the reference is blocked in the first direction and multiple joints of the robot are simultaneously adjusted, and more precisely, for planning and / or executing the motion of a reference fixed to the robot, particularly during this period.

[0056] In one embodiment, the system or its apparatus includes:

[0057] - A means for displaying at least two first directions as not based on detected joint loads and / or displaying at least two second directions as based on detected joint loads, wherein in the at least two first directions, external loads on each reference point cannot be reliably detected based on detected joint loads due to proximity to the robot's singular posture; wherein in the at least two second directions, external loads on each reference point can still be reliably detected based on detected joint loads despite proximity to the robot's singular posture; and / or

[0058] - A means for issuing a warning when an external load on at least one reference in a first direction cannot be reliably detected based on the joint load due to an unusual posture approaching the robot; and / or

[0059] - A means for outputting, in particular displaying, and in particular graphically visualizing, at least one first direction and / or at least one second direction and / or warning in a robot and / or on an operating device for controlling the robot, particularly a portable one, and / or in a simulated environment for simulating motion; and / or

[0060] - A means for monitoring external loads on a reference object based on detected joint loads in at least one second direction; and / or

[0061] - A means for blocking an external load on a reference in at least two first directions where the detected joint load cannot be reliably detected due to the singular posture of the approaching robot; and / or

[0062] - A means for monitoring external loads on references in at least two second directions based on detected joint loads when a first direction is blocked and multiple joints are adjusted simultaneously, wherein in the second direction, the external load on each reference can be reliably detected based on the detected joint loads even when the external load is close to a singular posture.

[0063] The apparatus of this invention can be constructed using hardware and / or software technologies, and in particular includes: a processing unit, preferably connected to a storage system and / or a bus system for data or signal connections, particularly a digital processing unit, particularly a microprocessor unit (CPU), graphics card (GPU), etc., and / or one or more programs or program modules. The processing unit can be designed to: execute instructions implemented as a program stored in the storage system; process input signals acquired from the data bus; and / or send output signals to the data bus. The storage system can have one or more, particularly different, storage media, particularly optical, magnetic, solid-state, and / or other non-volatile media. The program can be provided such that it embodies or implements the methods described herein, enabling the processing unit to perform the steps of the method, and thereby particularly to operate a robot. In one embodiment, the computer program product can have, particularly may be, a storage medium for storing a program or a storage medium on which the program is stored, particularly a non-volatile storage medium, wherein execution of the program enables a system or controller, particularly a computer, to perform the methods described herein or one or more steps of the method.

[0064] In one implementation, one or more steps of the method, particularly all steps, are performed fully or partially automatically, particularly by the system or its apparatus.

[0065] In one implementation, the system includes a robot.

[0066] In one implementation, the load includes a force in one direction and / or a torque in one direction.

[0067] In one implementation, if the detected change in joint load is below a certain minimum due to a change in external load, or the accuracy of determining the external load based on the detected joint load caused by the external load is below a certain minimum, or the inaccuracy of determining the external load based on the detected joint load caused by the external load is above a certain maximum, then the external load on the reference object cannot be reliably detected based on the detected joint load due to the robot's near-singular posture; or if the detected change in joint load is above a certain minimum due to a change in external load, or the external load can be determined with a certain accuracy based on the detected joint load caused by the external load, or the accuracy of determining the external load based on the detected joint load caused by the external load is above a certain minimum, or the inaccuracy of determining the external load based on the detected joint load caused by the external load is below a certain minimum, then the external load on the reference object can still be reliably detected based on the detected joint load, even though the robot's near-singular posture.

[0068] In one embodiment, the direction in the sense of the invention may or may not have directional significance. Thus, for example, (bidirectional) vertical and the direction of gravity (vertical from top to bottom) can both be directions in the sense of the invention.

[0069] In one implementation, the method further includes planning or executing motion of a reference fixed to the robot, particularly using a first direction (one or more) that is displayed and / or blocked, and / or a second direction (one or more) that is displayed. Attached Figure Description

[0070] Further advantages and features are provided in the technical solutions and embodiments of the present invention. For this purpose, some are illustrated schematically:

[0071] Figure 1 A system for operating a robot according to one embodiment of the present invention;

[0072] Figure 2 This is a method for operating a robot according to one embodiment of the present invention. Detailed Implementation

[0073] Figure 1 An exemplary six-axis or articulated robot (arm) 10 is shown, whose joint positions or joint loads are q1,…,q6 (joint positions or rotation angles) or 1,…, 6 (detected joint load or torque) indicates that the joint positions q1,…,q6 determine the orientation of its end flange and thus the orientation of TCP 11.

[0074] A horizontal force f is illustrated exemplarily on TCP 11. x External loads of the form and vertical force f z The horizontal force f x The line of action extends through the axis of rotation of the joint.

[0075] The robot controller is represented by 12, and the handheld operating device 13 communicates with the robot controller.

[0076] Near the strange posture of robot 10 shown, force f x No longer able to base on detected joint load 1,…, 6 is reliably detectable, but completely undetectable in the shown singular posture, and therefore cannot be reliably detected either. The direction of this force can be determined based on the Jacobian matrix between the velocity of the reference object and the joint velocity, because the transposed Jacobian matrix... J T The corresponding (first) column has zero in the singular orientation, due to the force f. x No non-zero torque is generated in any joint.

[0077] Conversely, despite approaching the singular posture of robot 10 shown, it is still possible to base the analysis on the detected joint loads. 1,…, 6. Reliable detection force f z This is true even in the singular orientations shown. The direction can also be determined based on the Jacobian matrix, since the transposed Jacobian matrix... J T The corresponding (third) column in the singular orientation does not only have zero, because of the force f z Different torques were generated in the second, third, and fifth joints.

[0078] The robot controller 12 determines the Jacobian matrix based on a current pose of the robot. Figure 2 Step S10), and thereby determine the (first) direction, in which the external load on the reference 11 cannot be based on the detected joint load due to the singular posture of the approaching robot. 1,…, 6 was reliably detected.

[0079] Then, in step S20, this first direction is displayed as if it were not monitored based on the detected joint load, preferably displayed on the robot, such as in... Figure 1 As indicated by the corresponding (activated) lighting device S, and / or displayed on the handheld operating device 13, as shown in Figure 1As represented by corresponding graphical visualizations. Additionally, visual and / or audible warnings may be output, for example, preferably on robots and / or handheld operating devices.

[0080] In this way, users can understand that: forces in the horizontal direction... Figure 1 The orientation shown cannot be reliably detected based on the detected joint load.

[0081] Provided that this is not a problem, the user can still command movement in one or more first directions (in this embodiment, this is only possible in poses that deviate slightly from the exotic pose shown).

[0082] However, if the user determines, for example, that an obstacle 20 exists in the corresponding direction, there is a possibility that the robot collides with the obstacle 20 without the collision monitoring noticing the detected joint load. 1,…, 6. An external load on TCP 11 was identified and it exceeded the limit.

[0083] In one variation, in step S20, the first direction is not displayed or is not merely displayed, but is additionally blocked if necessary, allowing the user to... Figure 1 The indicated orientation is near the command TPC 11, which prevents movement in the horizontal direction.

[0084] Here, while the first direction is blocked and multiple joints of the robot are adjusted simultaneously, external loads on the TCP are monitored in a second direction. Therefore, Figure 1 A comparison with Figures 3 and 4 of patent document DE102017204211A1 exemplifies that joints 2, 3, and 5 can be adjusted simultaneously because, despite approaching an unusual posture, the force f in the second direction can be reliably detected. z Therefore, compared to patent document DE102017204211A1, it can significantly expand the possibilities of motion.

[0085] Although exemplary implementations have been described in the foregoing description, it should be noted that many variations may exist.

[0086] Therefore, similarly, the corresponding first direction can also be displayed when planning motion, for example, in simulation environment 30. To illustrate more compactly, in... Figure 1 The same graphic symbols are used to represent the handheld operating device 13 and the simulation environment 30.

[0087] Additionally, or in a variation not shown, besides displaying the first direction, a second direction may be displayed that can be monitored (and preferably monitored) based on detected joint loads, in which external loads on a reference object can still be reliably detected based on the detected joint loads, even near singular postures, for example, similar to the symbol S on robot 10 or a graphical visualization similar to that on handheld manipulator 13 or in simulation environment 30. As discussed elsewhere herein, it may be advantageous to display only the first direction or only the second direction. Similarly, it is also possible to display not only the first direction but also the second direction, purely exemplarily in different colors, preferably with the first direction displayed in a warning color.

[0088] Similarly, the corresponding first direction can also be blocked when planning the movement.

[0089] Furthermore, it should be noted that these exemplary embodiments are merely examples and should not impose any limitations on the scope of protection, application, or construction. Rather, the foregoing description provides guidance for those skilled in the art to make modifications to at least one exemplary embodiment, wherein various changes, particularly concerning the function and arrangement of the components, can be implemented without departing from the scope of the invention, for example, as can be obtained according to the invention's technical solutions and equivalent combinations of features thereof.

[0090] List of reference numerals

[0091] 10. Robot (arm)

[0092] 11 TCP (Reference point fixed to the robot (end flange))

[0093] 12 Robot Controller

[0094] 13 Operating equipment

[0095] 20 Obstacles

[0096] 30 Simulation Environment

[0097] S lighting device

[0098] q1,…,q6 joint positions

[0099] 1,…, 6. (Detected) Joint Loads

[0100] fx, fz are forces (external loads).

Claims

1. A method for operating a robot (10), wherein, For planning and / or performing a motion of a reference object (11) fixed to a robot, at least one first direction is shown (S20) to be monitored without being based on detected joint loads, in which at least one first direction an external load (f x ) on the reference object cannot be reliably detected based on detected joint loads (τ1,...,τ6) due to a singular pose of the robot being approached, and at least one second direction is shown (S20) to be monitored based on detected joint loads, in which at least one second direction an external load (f z ) on the reference object can still be reliably detected based on detected joint loads (τ1,...,τ6) despite the singular pose being approached, characterized in that, if the external load (f x ) on the reference cannot be reliably detected on the basis of the detected joint loads (τ1,...,τ6) due to a singular pose of the robot being approached, the at least one first direction is blocked (S20) and, in the case of at least one blocked direction and simultaneous adjustment of a plurality of joints of the robot, monitoring of the external load (f z ) on the reference in at least one second direction on the basis of the detected joint loads (τ1,...,τ6) is provided, in which at least one second direction the external load on the reference can still be reliably detected on the basis of the detected joint loads, although the singular pose is approached.

2. The method of claim 1, wherein, At least two first directions are displayed as not being monitored based on the detected joint loads, in which at least two first directions an external load on each of the reference objects cannot be reliably detected based on the detected joint loads due to a singular pose of the robot being approached; and at least two second directions are displayed as being monitored based on the detected joint loads, in which at least two second directions an external load on each of the reference objects can still be reliably detected based on the detected joint loads despite a singular pose of the robot being approached.

3. The method of claim 1, wherein, When an external load on the reference objects cannot be reliably detected based on the detected joint loads in the at least one first direction due to a singular pose of the robot being approached, a warning is issued (S20).

4. The method of claim 3, wherein, The at least one first direction and / or the at least one second direction and / or the warning are issued on the robot and / or on an operating device (13) for controlling the robot and / or in a simulation environment (30) for simulating a movement.

5. The method of claim 4, wherein, The at least one first direction and / or the at least one second direction and / or the warning are displayed on the robot and / or on an operating device (13) for controlling the robot and / or in a simulation environment (30) for simulating a movement.

6. The method of claim 5, wherein, The at least one first direction and / or the at least one second direction and / or the warning are graphically visualized on the robot and / or on an operating device (13) for controlling the robot and / or in a simulation environment (30) for simulating a movement.

7. The method of claim 4, wherein, The operating device (13) is portable.

8. The method according to any one of claims 1 to 7, characterized in that, During a movement of the reference objects, a monitoring of an external load on the reference objects based on the detected joint loads is provided in the at least one second direction.

9. The method of claim 1, wherein, If an external load on the reference objects cannot be reliably detected based on the detected joint loads in at least two first directions due to a singular pose of the robot being approached, the at least two first directions are blocked, and in the case of at least one blocked first direction and a simultaneous adjustment of a plurality of joints, a monitoring of an external load on the reference objects based on the detected joint loads is provided in at least two second directions, in which at least two second directions an external load on the reference objects can still be reliably detected based on the detected joint loads despite the singular pose being approached.

10. The method according to any one of claims 1 to 7, characterized in that, The at least one first direction and / or the at least one second direction have translational and / or rotational directions and / or are determined (S10) based on a Jacobian matrix between a velocity of the reference objects and a joint velocity, and / or the reference objects are reference objects fixed to a robot end flange.

11. A system for operating a robot (10), the system being designed to carry out the method according to any one of claims 1 to 10 and having: - means for displaying at least one first direction as not monitored on the basis of the detected joint loads (τ1,..., τ6) and at least one second direction as being able to be monitored on the basis of the detected joint loads, wherein in the at least one first direction, external loads (f x ) cannot be reliably detected on the basis of the detected joint loads due to the proximity of a singular pose of the robot; wherein in the at least one second direction, external loads (f z ) can still be reliably detected based on the detected joint loads (τ1,...,τ6) despite the proximity to the singular pose and used for planning and / or performing motion of the reference object fixed to the robot; and / or - means for blocking at least one first direction in which an external load on the reference object cannot be reliably detected based on the detected joint loads due to a singular pose of the robot in the proximity of the robot in the at least one first direction, and for monitoring the external load on the reference object in at least one second direction in which the external load on the reference object can still be reliably detected based on the detected joint loads despite the proximity of the singular pose in the blocked direction and simultaneously adjusting a plurality of joints of the robot in the at least one second direction based on the detected joint loads in the at least one second direction in the blocked direction, and for planning and / or executing a motion of the reference object fixed to the robot.

12. Computer program product having a program code stored on a computer readable medium for carrying out the method according to any one of claims 1 to 10.

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