DRIVING A PREDEFINED PATH WITH A ROBOT

Description

[0001] The present invention relates to a method for at least partially automated travel along a predetermined path with a robot, in particular for at least partially automated synchronized travel along a predetermined path group with at least two robots, a system and a computer program product for carrying out the method, and a robot arrangement with the system.

[0002] According to internal company practice, specified paths are traversed by robots by sequentially traversing specified path segments, which can be defined, for example, by linear, circular, or spline movements. The end position of a previous path segment can serve as the starting position of a subsequent path segment. A path segment can be specified by a command set of a control program, with a block pointer selecting command sets one after the other, whose path segments are then traversed as the current path segment.

[0003] If the robot is no longer on the current path section selected by the block pointer, particularly after an interruption while traveling along the path, for example because the robot was moved manually after the interruption, the current path section was manually changed or another of the saved path sections was manually selected by the block pointer, the robot must first be (re)positioned on the (possibly new) current path section before traveling along the path or the current path section can be carried out, in particular continued.

[0004] According to internal company practice, the end position of the current track section is approached on a linear track, which is also referred to as the so-called SAK (sentence coincidence) travel.

[0005] However, if the end position is far from the current position of the robot, this can lead to long journeys away from the specified path, which are unknown in advance and can therefore be disadvantageous compared to following a specified, in particular optimized and / or collision-free planned, path.

[0006] US 2007 / 142967 A1 provides a method for controlling a robot path, comprising providing a main path for movement of the robot based on path data having points along the main path and providing a safe evacuation path from any point on the main path to reach a safe position, wherein the main path is designed taking into account safe evacuation path considerations so that the robot can be safely moved to a safety point or to the unloading position or safe position at any point on the travel path.

[0007] The object of the present invention is to improve the travel of paths with robots.

[0008] This object is achieved by a method for traveling along a predetermined path with a robot having the features of claim 1. Claims 8, 10, 12, and 13 protect a method for synchronized traveling along a predetermined path group with at least two robots, a system or a computer program product for carrying out a method described herein, or a robot arrangement with a system described herein. The subclaims relate to advantageous developments.

[0009] According to one aspect of the present invention, a method for at least partially automated travel of a predetermined, in particular stored, path with or by a robot comprises the steps: Determining a touchdown position on a current path section of the specified path, for which a distance parameter, which is defined on the basis of a distance between a current position of the robot and the current path section, is determined in particular, satisfies a specified condition, in particular its value is less than or equal to the values ​​of the distance parameter for all positions in a sub-area of ​​the current path section, in particular one complementary to the touchdown position; and approaching the touchdown position with the robot, provided or depending on whether a touchdown condition is met.

[0010] A system for at least partially automated travel along a predetermined path with or by a robot according to one aspect of the present invention, in particular a system, in particular a controller, of a robot arrangement with one or more robots according to one aspect of the present invention, is configured in terms of hardware and / or software to carry out a method described here and / or comprises: Means for determining a touchdown position on a current path section of the predefined path, for which a distance parameter, which is defined on the basis of a distance between a current position of the robot and the current path section, in particular is determined, satisfies a predefined condition, in particular its value is less than or equal to the values ​​of the distance parameter for all positions in a sub-area of ​​the current path section, in particular one complementary to the touchdown position; and means for approaching the touchdown position with the robot, in particular if or depending on whether a touchdown condition is met.

[0011] In one embodiment, the robot or at least one of the robots of the robot assembly has at least three, in particular at least six, in particular actuatable or, in particular, motor-actuated joints or axes, in particular rotary joints or axes. In one embodiment, the robot has a (robot) arm with at least six axes and / or one or more active or actuatable and / or passive or driveless additional axes for moving a robot base relative to the environment.

[0012] In one embodiment, a position of a robot comprises or describes a, in particular three-dimensional, position and / or orientation of a robot-fixed reference, in particular its tool center point, and / or, in particular in the case of redundant robots or singular poses, a unique pose, and / or an axis or joint position or coordinate of one or more, in particular all, axes of the robot, in particular one or more, in particular all, axes of an arm of the robot and / or additional axes of the robot, in which a base of the arm is movable, in particular actuatable or, in particular, actuated by a motor. The position can thus be specified equally in the (Cartesian) workspace or in the joint coordinate or axis space of the robot.Accordingly, components of the, in particular multi-, in particular at least six-dimensional, position are generally referred to here as coordinates of the robot; they can include, in particular be, joint coordinates, in particular joint angles, position coordinates, orientation angles such as, in particular, EULER or KARDAN angles, Denavit-Hartenberg parameters, quaternions or the like.

[0013] In one embodiment, a predefined or stored path comprises one or more predefined, in particular stored, path sections. In one embodiment, a path section comprises one or more predefined, in particular stored, positions of the robot and / or their connection, which in a further development can be defined or specified as linear, circular, (partially) circular, or by splines. In one embodiment, a path section is or is specified by a command set of a control program, for example LIN( x ), SPLINE( x 1 , x 2 ,...) or similar with positions x ,... x 2 ∈ ℜ DOF in the working or joint angle space and the number of degrees of freedom DOF of the robot.

[0014] A current path section is a path section of the specified path that is currently being traversed or is to be traversed next. It, or the command set specifying it, can be selected, in particular, by a set pointer, which, in a further development, automatically selects various path sections or command sets one after the other in order to traverse the specified path with the robot, and / or can be set or switched to another or any path section or command set, in particular manually or by operator command.

[0015] In one embodiment, the distance of a position to a path section can depend on or describe a, in particular Cartesian or Euclidean, in particular minimal or perpendicular, distance of the position to the path section, in particular in the work or joint coordinate space. In one embodiment, the distance is the absolute value or the Euclidean norm or length of the multi-dimensional vector, in particular in the work or joint coordinate space, from the position to the path section, which is perpendicular to the path section. In one embodiment, the distance parameter can be a one- or multi-dimensional quantity that depends on the distance, in particular linearly, or describes it (mathematically). In a further development, the distance parameter can have, in particular be, a, in particular weighted, norm, in particular sum, of the differences between one or more, in particular all, coordinates of the robot and the path section.

[0016] In general, a position of the robot is determined by the coordinates x = [ x 1 ,..., x n ], for example the location [ x 1 = x, x 2 = y, x 3 = z] and orientation [ x 4 = α, x 5 = β, x 6 = γ] of its TCP or its joint angles [q 1 ,..., q 6 ], and a path section correspondingly by a relation, in particular function, Y ( s ) = [ Y 1 ( s ),..., Y n ( s )] with the path parameter s, the distance or the distance parameter d ( s ) be defined in particular as d ( s ) = ∑ w i ·| x i - Y i ( s )| with the weighting factor wi , or another norm, for example a maximum norm, over x, Y, in particular ( x-Y ), for example d ( s ) = Max ( w i ·| x i - Y i (s )|) . In one embodiment, the weighting factors wi are all unequal to 0, in particular equal to 1, in another embodiment, one or more weighting factors wi can be equal to 0 except for at least one weighting factor.

[0017] By determining a landing position that fulfills a given condition, a robot can be advantageously positioned on the current path section, in particular again or for the first time.

[0018] The distance parameter fulfills the specified condition for a (touchdown) position or the distance parameter of the (touchdown) position (only) if or insofar as it or its value is less than or equal to the distance parameter or the value of the distance parameter for all positions in a sub-area of ​​the current path section or the (values ​​of the) distance parameter(s) of all positions in a sub-area of ​​the current path section, in particular is a minimum distance parameter in the current path section. In other words, a position on the current path section can be determined as the touchdown position that is at least as close to the current position as, in particular closer than, all positions in a sub-area of ​​the current path section. This can advantageously achieve a short approach to the touchdown position.If at least two positions in a sub-area of ​​the current path section have the same minimum (values ​​of the) distance parameter(s), then in one embodiment the landing position selected from among these positions can be the one that satisfies an additional condition, in particular a position that is closest to a start or end of the current path section or a stored return position or the like.

[0019] In a further development, the sub-area of ​​the current path section is complementary to the touchdown position, or the sub-area and touchdown position together form the entire current path section. In other words, the distance parameter of a (touchdown) position in one embodiment fulfills the specified condition (only) if or insofar as it is less than or equal to the distance parameter of all other positions in the current path section, or if or insofar as it is minimal. Accordingly, in one embodiment, the touchdown position on the current path section of the specified path is determined for which (the value of) a distance parameter, which is defined on the basis of a distance between a current position of the robot and the current path section, is minimal, or the means for determining a touchdown position is configured for this purpose. This advantageously makes it possible to achieve the shortest approach to the touchdown position.

[0020] In one embodiment, the touchdown condition may include a deviation of the current position of the robot from the current path section, in particular it may not be met if a deviation of the current position of the robot from the current path section falls below a predetermined, one- or multi-dimensional, (first) limit value, which in one embodiment, at least within the scope of the calculation and / or positioning accuracy, may be equal to or greater than zero. In one embodiment, the deviation may be defined or determined in the same way as the distance parameter. In other words, the touchdown condition is not met in one embodiment if the current position lies on the current path section.

[0021] This allows the robot to advantageously be moved from its current position (further) along the current path section, provided that its current position is already sufficiently close to the current path section, in particular on the current path section.

[0022] Additionally or alternatively, the touchdown condition may comprise a deviation of a return position of the robot, stored in particular during a (previous) interruption of the travel along the specified path, from the current path section, and in particular may not be met if a deviation of the return position of the robot from the current path section falls below a predetermined, one- or multi-dimensional, (second) limit value, which in one embodiment, at least within the scope of the calculation and / or positioning accuracy, may be equal to or greater than zero. In other words, the touchdown condition is not met in one embodiment if the return position lies on the current path section.

[0023] In one embodiment, the deviation can be defined or determined in the same way as the distance parameter. If the current path section no longer corresponds to the path section on which the stored return position lies or for which it was stored or which has the return position, for example due to a modification of this path section or a jump to another stored path section, then in one embodiment the deviation of the return position from the (new) current path section exceeds the (second) limit value. In other words, in one embodiment, the touchdown condition is not met if or insofar as the current path section has the stored return position.

[0024] In a further development, a position of the robot on the path before the interruption is stored as the return position, in particular the last position.

[0025] This allows the robot to advantageously be moved from its current position to its last saved (return) position on the current path section and from there on the current path section, provided that the return position is still sufficiently close to the current path section, in particular still on the current path section.

[0026] In one embodiment, the return position is approached, in particular on a linear path in the working or joint coordinate space and thus advantageously over a particularly short distance, if or insofar as the deviation of the return position of the robot from the current path section falls below the predetermined (second) limit value, in particular (only) if or insofar as the deviation of the current position of the robot from the current path section does not fall below the predetermined (first) limit value. Accordingly, in one embodiment, the system has means for approaching the return position, in particular on a linear path in the working or joint coordinate space, if or insofar as the deviation of the return position of the robot from the current path section falls below the predetermined (second) limit value, in particular (only) if or insofar asprovided that the deviation of the current position of the robot from the current path section does not fall below the specified (first) limit value.

[0027] In one embodiment, the current path section is or is specified by, in particular, manual or operator-commanded modification or alteration, in particular substitution or replacement, of a stored path section of the specified path. In other words, the robot can advantageously be positioned to the landing position and thus the current path section if its current and / or return position deviates from the current path section due to a modification of the current path section.

[0028] In one embodiment, the current path section is or is specified by a jump, particularly a manual or operator-commanded jump, to a stored path section of the specified path. In other words, the robot can advantageously be positioned to the landing position and thus the (new) current path section if its current and / or return position deviates from the (previously) current position due to a jump, particularly of the block pointer, to another path section or command set.

[0029] In one embodiment, the current path section can also be a first path section of the specified path. In other words, the method can also be used for, in particular, initial or re-entry of the specified path before it is traveled.

[0030] In one embodiment, the robot approaches the landing position along a linear path in the work or joint coordinate space, thus advantageously covering a particularly short distance. Accordingly, in one embodiment, the system comprises means for approaching the landing position along a linear path in the work or joint coordinate space.

[0031] In one embodiment, the robot moves to the touchdown position and / or the robot moves from the touchdown position to an end or target position of the current path section on the current path section, in particular (only) when it receives a corresponding start command. Accordingly, in one embodiment, the system has means for inputting a start command and / or means for moving the robot to the touchdown position and / or an end or target position of the current path section on the current path section, in particular (only) as a result of a corresponding start command. In one embodiment, this advantageously makes it possible to continue moving along the specified path after reaching the touchdown position, which can in particular be done via the shortest possible route, and thus to advantageously use or utilize this path as far as possible.

[0032] According to one aspect of the present invention, a predetermined first path of a predetermined path group is traveled with or by a first robot of or of the robot arrangement according to a method described here, in particular the touchdown position is determined and approached at least when the touchdown condition is met, and, in particular in a time-synchronized manner with this predetermined path, one or more further predetermined paths of the path group are traveled with or by one or more further robots of the robot arrangement.

[0033] A system for at least partially automated travel of a predetermined path group with or by at least two robots according to one aspect of the present invention, in particular a system, in particular a controller, of the robot arrangement, is configured accordingly in terms of hardware and / or software to carry out a method described here and / or comprises: a system described herein for at least partially automated traversing of a predetermined path with a first of the robots; and means for synchronized traversing of one or more further predetermined paths of the path group with one or more further robots of the robot arrangement.

[0034] In the present case, synchronized travel along paths is understood to mean, in particular, that at least no robot passes a predetermined synchronization position on its predetermined path until the other robot(s) of the robot arrangement have reached the synchronization positions assigned to this synchronization position or synchronized with it on their predetermined paths, in particular, travel along the paths in such a way that the robots reach the mutually assigned synchronization positions on their predetermined paths at least substantially, in particular - within the scope of the accuracy of the robot(s) - exactly, at the same time. This can be achieved, in particular, by a corresponding specification of a speed profile ds dt s with the time derivative d / dt of the orbit parameter s or a geometric coupling of the orbits can be realized.

[0035] In one embodiment, one or more of the further robots can each wait at a predetermined synchronization position, for example an end position of a path section, until the first robot reaches a synchronization position on the first path assigned to this or these synchronization position(s), after it has approached the touchdown position.

[0036] However, it may happen that the first robot no longer reaches this assigned synchronization position on the first path, for example because it lies on a skipped or changed path section.

[0037] In particular, therefore, in one embodiment, a further landing position of the further robot(s) on the further path(s) is determined (in each case) synchronized with the landing position of the first robot and approached by the further robot(s). A synchronized further landing position can in particular be determined or defined such that the robots reach at least predetermined synchronization positions adjacent to these landing positions in the direction of travel or sense on their respective predetermined paths or path sections in a synchronized manner, in particular simultaneously, if they start together in their (synchronized) landing positions and travel along their predetermined paths, in particular if their respective predetermined paths or path sections are geometrically coupled starting from their synchronized landing positions.

[0038] In a further development, at least one synchronized additional landing position is approached along the additional path. This advantageously allows the predefined additional path to be used. In a further development, at least one synchronized additional landing position is approached along a linear path in the work or joint coordinate space. This advantageously allows the synchronized additional landing position to be approached via a short path.

[0039] Accordingly, in one embodiment, the system comprises means for determining a further placement position of at least one further robot on its further path, synchronized with the placement position of the first robot, and means for approaching this further placement position(s) with the further robot(s), in particular on the further path(s) or on (a) linear path(s) in the working or joint coordinate space.

[0040] A means within the meaning of the present invention can be designed in hardware and / or software, in particular a processing unit, in particular a microprocessor unit (CPU), which is preferably connected to a memory and / or bus system in terms of data or signals, and / or can have one or more programs or program modules. The CPU can be designed to process instructions implemented as a program stored in a memory system, to detect input signals from a data bus and / or to output signals to a data bus. A memory system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and / or other non-volatile media. The program can be designed in such a way that it embodies or is capable of carrying out the methods described here, so that the CPU can carry out the steps of such methods and thus in particular thecan control the robot (arrangement).

[0041] One or more steps of a method described here are carried out fully or partially automatically in one embodiment.

[0042] Further advantages and features emerge from the subclaims and the exemplary embodiments. The following shows, partially schematically: Fig. 1: the travel of a track group with a robot arrangement according to an embodiment of the present invention; and Fig. 2: the sequence of the method.

[0043] Fig. 1 shows the travel of a predetermined path group with a robot arrangement according to an embodiment of the present invention.

[0044] The robot arrangement comprises, by way of example, a first robot 10 with a controller 11 and a further robot 20 with a controller 21, which together form a system for carrying out a method for synchronized travel of the track group with the two robots 10, 20 according to an embodiment of the present invention.

[0045] The robots 10, 20 each have six movement (rotation) axes, the positions of which are described by the joint coordinates q 1,1 ,...,q 1,6 and q 2,1 ,...,q 2,6 respectively. These joint coordinates or the three-dimensional position and orientation of a Fig. 1 The TCPs indicated by dash-dotted lines are or describe coordinates or positions x of the respective robot.

[0046] For the first robot 10, a path is specified or stored in its controller 11, which comprises successive path sections Y 1, 1 ,..., Y 1, 3. Each of these path sections is specified in particular by a corresponding command set of a control program stored in the controller 11 and has an end or target position x 1, e1 , x 1, e2 respectively. x 1, e3 on.

[0047] For the other robot 20, a path is analogously specified or stored in its controller 21, which comprises successive path sections Y 2, 1 ,..., Y 2, 3. Each of these path sections is specified analogously by a corresponding command set of a control program stored in the controller 21 and has an end or target position x 2, e1 , x 2, e2 respectively. x 2, e3 up.

[0048] The given paths { Y 1,1 ,..., Y 1, 3}, { Y 2, 1 ,..., Y 2, 3} are traversed in a synchronized manner so that the robots 10, 20 each reach the end positions of the respective path sections simultaneously. In other words, the end positions in the exemplary embodiment are selected as synchronization positions.

[0049] As an example, the travel of the path group was interrupted and the saved path section just traveled by robot 10 Y 1, 2 to a new railway section Y' 1, 2 modified, which in Fig. 1 is indicated by dashed lines and now represents the (new) current track section Y a1 of the first robot 10, which by manual or operator-commanded modification of the stored path section Y 1, 2 of the given path { Y 1, 1 ,..., Y 1, 3} has been specified.

[0050] The current railway section Y a2 of the second robot 20 is the (unchanged) stored path section Y 2, 2 .

[0051] Due to this modification, the current position x a1 of the first robot 10 is no longer on its current path section Y a1 .

[0052] An analogous situation could arise if an operator commands a jump of a block pointer in the control program of the first robot 10 or manually controls the first robot 10 to another position.

[0053] With reference to Fig. 2 A method performed by the system 11, 21 according to an embodiment of the present invention will now be explained in more detail. The system 11, 21 has appropriately configured software and / or hardware means for this purpose.

[0054] In a first step S10, it is determined whether or not there is an interruption in the travel of the track group. If there is no interruption (S10: "N"), the system or method repeats step S10.

[0055] If there is an interruption (S10: "Y"), the system or method proceeds to step S20.

[0056] In this it checks whether a current position x a of the respective robot still on the current path section Y a or not by determining a deviation of the current position of the robot from the current path section and checking whether this deviation falls below a first limit value.

[0057] For the first robot 10, this is, as described above with reference to Fig. 1 explained, this is not the case (S20: "N"), so that the system or method continues with step S50.

[0058] In this step, it checks whether a return position saved when the path group was interrupted x r , which in the embodiment corresponds to the current position due to the modification of the path section x a, nor on the current track section Y a or not by determining a deviation of the stored return position of the robot from the current path section and checking whether this deviation falls below a second limit value.

[0059] For the first robot 10, this is, as described above with reference to Fig. 1 explained, is also not the case (S50: "N"), so that the system or method continues with step S70.

[0060] In this step, the system or method determines a placement position for the first robot 10 x n on the current track section Y a1 of the given path for which a distance parameter d which is based on a distance from the current position x a1 of the first robot 10 to the current path section Y a1 is determined, minimal and thus smaller than for the landing position x n complementary sub-area Y a1 \ x n of the current track section Y a1 is.

[0061] The distance parameter d In the exemplary embodiment, the magnitude of the vector, weighted component-wise in one embodiment, d from the current position x a1 to the current track section Y a1 , which is on the current track section Y a1 is vertical, as in Fig. 1 indicated.

[0062] It should be noted again that the position x describes the position and orientation of the TCP in six dimensions, for example, the position in the joint angle or axis space. Accordingly, d in particular in accordance with d = d 1 2 + d 2 2 + d 3 2 + d 4 2 + d 5 2 + d 6 2 where d 1 ,...,d 6 are the components of the vector d in the joint angle or axis space.

[0063] Likewise, the position x ,again purely exemplary, also include the three position coordinates x, y, z and the skew-symmetric part of the transformation matrix between the TPC and an environmentally fixed base coordinate system, which describes the orientation of the TPC. Accordingly, the vector d also be displayed in the workspace.

[0064] The landing position x n can also be found or defined in particular by enlarging a hypersphere, possibly deformed by weighting factors or scaled in coordinate directions, around the current position in a common space in which the trajectory is given or into which it is transformed, and in which the current position is known or determined, until it touches the trajectory for the first time, whereby the point of contact then represents the touchdown position x n is.

[0065] Subsequently, in step S80, the placement position x n with the first robot 10 on a linear path in the working or joint coordinate space as soon as it or the robot arrangement receives a corresponding start command.

[0066] From the landing position, the first robot 10 is then moved in a step S40 to the final position x 1, e2 of the current track section Y a1 on the current track section Y a1 procedure.

[0067] However, if the check in step S50 shows that the return position saved when the path group was interrupted x r still on the current track section Y a (S50: "Y"), since the deviation of the stored return position from the current path section falls below the second limit value, for example, because the first robot 10 with the path section unchanged Y 1, 2 only manually from its saved return position x r to its current position x a, in a step S60 this return position x r approached by the robot on a linear path in the work or joint coordinate space.

[0068] From the return position x r the robot is then returned to the final position in step S40 x e of the current track section on the current track section.

[0069] If the check in step S20 shows that the current position x a still on the current track section Y a (S20: "Y"), the system or method proceeds to step S30.

[0070] For the second robot 20, this is, as described above with reference to Fig. 1 explained, the case (S20: "Y").

[0071] In step S30, the system or method checks whether a landing position for another robot of the robot arrangement x n has been determined.

[0072] As explained above, this is the case with respect to the further robot 20, since for the first robot 10 the placement position x n has been determined.

[0073] Accordingly (S30: "N"), the system or method proceeds to step S90.

[0074] In this it determines for the second robot 20 a position corresponding to the x n of the first robot 10 synchronized further placement position x s of the further robot 20 on the further path { Y 2, 1 ,..., Y 2, 3}. This is determined in such a way that the first robot 10, starting from its landing position x n , on its path { Y 1, 1 , Y' 1, 2 , Y 2, 3} and the second robot 20, starting from its further placement position x s , on the further track { Y 2, 1 ,..., Y 2, 3} the respective next synchronization points x 1, e2 , x 2, e2 , at the same time.

[0075] Subsequently, in a step S100, the further robot 20 is moved along its further path { Y 2, 1 ,..., Y 2, 3} this further landing position x s approached, as in Fig. 1 indicated.

[0076] From there, the next end position is then approached in step S40, whereby in the exemplary embodiment the end and synchronization positions coincide for a more compact representation.

[0077] If the system or method determines in step S30 that no other robot in the robot arrangement has a landing position x en has been determined (S30: "N"), the next end position is approached directly in step S40.

[0078] Although exemplary embodiments have been explained in the preceding description, it should be noted that a large number of modifications are possible.

[0079] The method was explained using two synchronized robots 10 and 20 as examples. If it is performed for only a single robot, for example, the first robot 10, steps S30, S90, and S100 can be omitted, or the next end position can be approached directly if it is determined that the current position is still on the current path section (S20: "Y").

[0080] Additionally or alternatively, step S50 can also be omitted, ie if the current position deviates from the current path section, a touchdown position is always determined and approached - if necessary only after receiving a (further) start command. Bezugszeichenliste

[0081] 10(first) robot 11Control (system) 20additional robot 21Control (system) q i,j joint coordinates (i=1, 2; j=1,...,3) x a(1) , x a2 current position x i,ej end / synchronization position (i=1, 2; j=1,...,3) Y i,j path section (i=1, 2; j=1,...,3) x n landing position x s synchronized further landing position Y a(1) , Y a2 current railway section

Claims

1. A method of carrying out a movement along a specified path with a robot (10) in an at least partially automated manner, wherein the method comprises the following steps: determining (S70) a deployment position (xn) on a current path portion (Ya1) of the specified path, for which a distance parameter, which is defined on the basis of a distance between a current position (xa1) of the robot and the current path portion, satisfies a predetermined condition, wherein the current path portion is a path portion of the specified path on which a movement is to be carried out next, and wherein the distance parameter satisfies the predetermined condition as long as is less than, or equal to, the distance parameter for all positions in a sub-portion of the current path portion; and carrying out a movement (S80) to the deployment position with the robot as long as a deployment condition is satisfied.

2. The method according to claim 1, characterised in that the deployment condition comprises a deviation of the current position of the robot from the current path portion (S20).

3. The method according to any one of the preceding claims, characterised in that the deployment condition comprises a deviation of a stored return position (xr) of the robot from the current path portion, in particular in the case of an interruption of the movement along the specified path (S50).

4. The method according to any one of the preceding claims, characterised in that the current path portion is specified as a result of a modification, in particular a substitution, of a stored path portion (Y1, 2) of the specified path.

5. The method according to any one of the preceding claims, characterised in that the current path portion is specified by a jump to a stored path portion of the specified path.

6. The method according to any one of the preceding claims, characterised in that the movement to the deployment position is carried out on a linear path (d) in the working space or in the joint coordinate space.

7. The method according to any one of the preceding claims, characterised in that the robot is moved on the current path portion from the deployment position to an end position (x1, e2) of the current path portion.

8. A method of carrying out a synchronised movement along a specified group of paths with at least two robots (10, 20) in an at least partially automated manner, wherein a movement along a specified first path of the group of paths is carried out with a first one (10) of the robots according to a method according to any one of the preceding claims, and a movement along at least one further specified path of the group of paths is carried out with a further one (20) of the robots in a synchronised manner.

9. The method according to claim 8, characterised in that a further deployment position (xs) of the further robot on the further path, which further deployment position (xs) is synchronised with the deployment position (xn) of the first robot, is determined (S90), and that a movement to the further deployment position (xs) is carried out (S100) with the further robot, in particular on the further path or on a linear path in the working space or in the joint coordinate space.

10. A system (11) for carrying out a movement along a specified path with a robot (10) in an at least partially automated manner, which system (11) is set up for carrying out a method according to any one of the preceding claims.

11. A system (11, 21) for carrying out a synchronised movement along a specified group of paths with at least two robots (10, 20) in an at least partially automated manner, which system (11, 21) is set up for carrying out a method according to any one of the preceding claims and / or which comprises: a system (11) according to claim 10 for carrying out a movement along a specified path of the group of paths with one (10) of the robots; and means (21) for carrying out a synchronised movement along at least one further specified path of the group of paths with a further one (20) of the robots.

12. A robot arrangement comprising at least one robot (10, 20) and a system (11, 21) according to any one of the preceding claims 10 - 11.

13. A computer program product which comprises a program code which is stored on a medium that can be read by a computer, for carrying out a method according to any one of the preceding claims 1 - 9.