Configuring and / or checking a boundary for a robot or part of a robot

Abstract

A method for configuring and / or checking a boundary for a robot (10) or a part of the robot comprises the following step: providing (S10) geometry data of a working space ascertained to be freely accessible for the robot or part of the robot, or a protective space complementary hereto. In one embodiment, the method comprises the following step: configuring (S30) a boundary for the robot or part of the robot based on a user input, wherein during this configuring, this boundary is visualised together with the working space or protective space based on the user input and the provided geometry data, the boundary being visualised with the aid of a user interface. Additionally or alternatively, the method comprises the following steps: planning (S40) a movement of the robot for checking a or the configured boundary for the robot or part of the robot based on the provided geometry data; controlling (S50) drives of the robot to carry out the planned movement; and detecting a triggering of a safety monitoring device as a result of said movement being carried out. The invention also relates to a system and to a computer program (product).

Description

[0001] Description

[0002] Configuring and / or checking a boundary for a robot or part of a robot

[0003] The present invention relates to a method and system for configuring and / or checking a limitation for a robot or a part of the robot and to a computer program or computer program product for carrying out the method.

[0004] According to internal practice, boundaries for robots can be configured in the form of virtual walls through user input. Boundaries configured in this way are checked according to internal practice by moving the robot to them and determining whether this triggers a designated safety monitor.

[0005] The object of the present invention is to improve the configuration and / or testing of a boundary for a robot.

[0006] This object is achieved by a method having the features of claim 1. Claims 9 and 10 protect a system, computer program, or computer program product for implementing a method described herein. The subclaims relate to advantageous developments.

[0007] According to one embodiment of the present invention, a method for configuring and / or testing a limitation for a robot or a part of the robot comprises the step:

[0008] - Providing geometric data of a space which has been determined, preferably previously, as a space freely accessible to the robot or part of the robot, in one embodiment, and is referred to herein as the workspace, or of a protective space complementary thereto. In one embodiment, the boundary is a virtual or software-implemented boundary and / or comprises one or more boundaries, in particular a space, in one embodiment virtual, in which the robot or part of the robot may be located or move, and / or a space, in one embodiment virtual, in which the robot or part of the robot may not be located or into which it may not penetrate.

[0009] A space within the meaning of the present invention can be composed of several separately defined subspaces. For example, a space in which the robot or part of the robot may be located or move may be delimited by a defined outer boundary (beyond which the robot or part of the robot may not move) and one or more defined inner boundaries within the space delimited by this outer boundary, in particular subspaces in which the robot or part of the robot may not be located or into which it may not penetrate; accordingly, the boundary can have the outer boundary and the inner boundaries. In one embodiment, the boundary comprises one or more, in particular virtual and / or flat or curved, walls which the robot or part of the robot should not or may not penetrate.

[0010] A space or a boundary or limit within the meaning of the present invention can in particular be a Cartesian space or a boundary or limit in Cartesian space or a [configuration or.

[0011] Joint coordinate space or a boundary or limit in the configuration or joint coordinate space or as a Cartesian space or configuration or joint coordinate space or in a Cartesian space or a [configuration or joint coordinate space defined or specified.

[0012] A space or a boundary or limit within the meaning of the present invention can in particular refer to one or more different robot-fixed references, for example robot-fixed points, virtual or real bodies, coordinate systems or the like, and / or to the entire kinematic chain and / or contour of the robot or a part of the robot, in particular a part of its kinematic chain and / or contour, one or more individual links, for example the end effector, elbows or the like, in particular an optionally simplified envelope contour of the chain or contour or of the part of the robot or of the individual link(s).A part of the robot in the sense of the present invention can have one or more individual links, optionally connected to one another in an articulated manner, and / or be part of its kinematic chain and / or contour and / or have two or more individual parts, optionally spaced apart from one another.

[0013] Accordingly, for example, a space determined as freely accessible can in particular be a space which is determined as freely accessible for the, if appropriate, an envelope contour of the entire kinematic chain and / or contour of the robot or a part of the robot, in particular one or more individual links, for example the end effector. A limitation or boundary for a robot can accordingly in particular be a limitation or boundary for the, if appropriate, an envelope contour of the entire kinematic chain and / or contour of the robot or a part of the robot, in particular one or more individual links, for example a limitation or boundary for the end effector.

[0014] A space or a boundary or limit within the meaning of the present invention can in particular be a one-, two-, three- or multi-dimensional space or boundary or limit, in particular a one-dimensional space, for example a Cartesian direction or a boundary or limit in a Cartesian direction, or a three-dimensional space or boundary or limit, for example (for) a position in Cartesian space, or a six- or more-dimensional space or boundary or

[0015] Limit that specifies or limits a position and orientation in Cartesian space or the position of the joints or (motion) axes of a six-axis robot. If a limit for the robot or a space accessible to the robot is mentioned here, this can refer to the entire robot or a part of it in one embodiment, or to one or more members of the robot in a further development.

[0016] In one embodiment, the robot has at least one robot arm and / or a fixed or mobile base, in a further development a chassis. It can be, in particular, a stationary robot, in a further development in a robot cell, a walking robot, an underwater robot, or a drone. In one embodiment, the robot, in a further development the robot arm, has at least three, in particular at least six, in one embodiment at least seven, (motion) axes or joints, which can be moved or adjusted by, preferably electromagnetic, drives of the robot.

[0017] For such limitations or robots, the present invention is particularly advantageous, in particular due to the kinematics and boundary or operating conditions.

[0018] According to one embodiment of the present invention, the method comprises the step:

[0019] - Configuring a limit for the robot or part of the robot based on a user input (entered by a user), whereby this limit

[0020] - during this configuration and

[0021] - together with the workroom or shelter and

[0022] - based on

[0023] - the user input and

[0024] - the provided geometric data of the work or shelter area

[0025] - is visualized with the aid of, preferably on, a user interface, preferably visualized graphically, in one embodiment by means of corresponding, in particular virtual, boundary surfaces or the like. By jointly visualizing the workspace determined as a space freely accessible to the robot or part of the robot or the complementary protection space together with the boundary to be configured based on a user input during this configuration, the configuration can be carried out advantageously, in particular more quickly and / or more safely, in one embodiment. For example, in one embodiment a user can recognize more quickly and / or more reliably that a boundary configured by him is unintentionally located within the protection space, or can deliberately place a boundary in the workspace or at its outer boundary.

[0026] According to one embodiment of the present invention, the method comprises, in addition to or alternatively to a configuration described here, the steps:

[0027] - Planning a movement of the robot to check a limit, preferably as described here, configured for the robot or part of the robot based on the provided geometry data, preferably by means of automated path planning, in a design with a speed profile, and / or in such a way that the robot or part of the robot is located within the workspace or remains within it or avoids the protective space and / or in such a way that the robot or part of the robot reaches the configured limit, if necessary exceeds it;

[0028] - Controlling the robot's drives to perform the planned movement; and

[0029] - Detecting whether a safety monitoring function is triggered as a result of the movement being carried out, in particular whether a safety monitoring function specified for this purpose is triggered, in particular correctly, as a result of a movement of the robot when carrying out the planned movement into a robot pose. Accordingly, in one embodiment the safety monitoring function is set up to be triggered when the robot or part of the robot reaches or exceeds the limit (to be checked). By planning the movement of the robot to check the configured limit based on the provided geometric data of the work space determined as a space freely accessible to the robot or part of the robot or the protection space complementary thereto, in one embodiment the probability of a collision of the robot or part of the robot can be determined.Part of the robot during the check is reduced and the configured limitation can thus be checked advantageously, in particular more quickly and / or more safely.

[0030] In one embodiment, providing the geometry data comprises adjusting the robot into different robot positions, wherein the workspace is expanded based on these robot positions, preferably by these robot positions and / or based on the poses of the part of the robot in these robot positions, or the protection space is reduced based on these robot positions, preferably by these robot positions and / or based on the poses of the part of the robot in these robot positions, in particular by the poses. In other words, during this adjustment into the different robot positions, the robot or part of the robot successively clears a space that forms the workspace or part of the workspace or is no longer part of the protection space.

[0031] This means that the work or protective space can be provided in a particularly reliable and / or simple manner.

[0032] Additionally or alternatively, the provision of the geometry data in one embodiment comprises a sensor-based detection of the robot's environment, in a further development camera-based detection, wherein the workspace or protection space is provided in one embodiment based on an evaluation of the sensor data, in particular camera images, and in one embodiment based on an automatic detection of boundary surfaces based on the sensor data, in particular (image evaluation of the) camera images. As a result, the workspace or protection space can be provided in one embodiment at least partially without (moving the) robot(s) and / or (even) more quickly and / or easily.

[0033] The provision of geometry data may additionally or alternatively also include, in particular, the retrieval or retrieval of stored geometry data.

[0034] In one embodiment, the workspace or the protection space is discretized, preferably into grid or volume elements such as voxels, octrees, or the like. As a result, in one embodiment, the workspace or protection space can be provided particularly advantageously, in particular more simply and / or reliably, and / or used to plan the robot's movement to check the configured boundary.

[0035] In one embodiment, the robot is adjusted or manually guided into one or more of the various robot positions based on a load applied manually (by a user), preferably under appropriate, particularly flexible, control. This allows the workspace or protective space to be provided particularly advantageously, particularly more simply and / or reliably, in one embodiment.

[0036] Additionally or alternatively, in one embodiment, the robot is adjusted to one or more of the various robot positions based on a command input from a user via an input interface, preferably via an operating device, in particular a handheld control unit that can preferably be spaced apart from the robot. This allows the work or protection space to be provided particularly advantageously, in particular more quickly, in one embodiment.

[0037] Additionally or alternatively, in one embodiment, the robot is adjusted to one or more of the various robot positions based on automated path planning, preferably systematic path planning for scanning a space, preferably collision-free. This allows the work or protection space to be provided particularly advantageously, in particular more thoroughly or comprehensively, in one embodiment.

[0038] In one embodiment, during the configuration of the boundary, or in a further development as a result of it, the robot is moved into additional robot positions, the workspace or the protection space being updated based on these additional robot positions. Preferably, these additional robot positions are specified, in one embodiment by automatic path planning, based on a specification by the user during the configuration, in particular a rejection or modification of a generated suggestion and / or a specification of a spatial area to be traversed or evaluated. In one embodiment, this advantageously allows areas that have not yet been evaluated to be evaluated as needed and / or initiated by the configuration and / or collision-free, and thus the workspace can be enlarged as needed and / or initiated by the configuration, or the protection space can be reduced accordingly.For example, as explained in more detail below, a user can reject a limitation suggested to them based on the previously provided workspace. This indicates that the previously provided workspace is too small or that an area blocked by the suggested limitation is, in the user's opinion, accessible to the robot or part of the robot. With the result that the workspace is expanded accordingly by updating the workspace or protection space based on additional robot positions approached during configuration, in particular triggered by the rejection. Likewise, in other cases when configuring based on the visualization, the user can determine that the provided workspace or protection space is too small.The protected space may not yet adequately represent the actual freely accessible space and therefore a spatial area to be evaluated is specified, which is then evaluated by adjusting the robot to corresponding additional robot positions based on this spatial area specified as being to be evaluated, and the work or protected space is updated accordingly. In one embodiment, the method comprises the following steps:

[0039] - Generating a proposal for the boundary to be configured based on the provided geometry data; and

[0040] - Visualizing this proposal using the user interface to configure the boundary for the robot or part of the robot, wherein the configuring comprises accepting, modifying, or rejecting the proposal based on an evaluation input from a user.

[0041] This allows configuration to be carried out advantageously, in particular more quickly and / or more securely, in one embodiment.

[0042] In a further development, the proposal is generated by means of data processing based at least partially on machine learning and / or pattern recognition and / or, preferably by a user and / or on the basis of a numerical data model, parameters of a topology of the robot and / or the environment. For example, a work table, a column, a shelf or the like can be recognized based on the provided geometric data of the determined work or protection space and / or by means of data processing based at least partially on machine learning if the corresponding area has been determined as not being freely accessible to the robot or part of the robot, and a corresponding boundary of the work or protection space has been defined.A protective space, preferably based on a numerical data model for such environmental obstacles by means of data processing based at least partially on machine learning, may be proposed as (part of) the boundary. In general, a proposal for the boundary to be configured may include, in particular, a proposal for one or more boundaries of the boundary.

[0043] In one embodiment, the planned movement is visualized using the user interface before it is carried out. In one embodiment, this can improve the safety and / or effectiveness of the movement or test. In one embodiment, when the planned movement is carried out, the movement carried out and / or a detection of a triggering of the safety monitoring function as a result of the execution of the movement is saved, wherein based on this, in a further development based on a visualization of the planned and / or carried out movement and / or also on the basis of a test input from a user, a test report is generated, wherein the user preferably signs the test report. In one embodiment, the movement carried out and / or the detection of a triggering of the safety monitoring function is saved with the test report. In one embodiment, this can advantageously document the testing of the configured limitation.

[0044] In one embodiment, when visualizing the boundary during configuration together with the workspace or protection space based on the user input and the provided geometry data, a virtual representation of the robot or part of the robot and / or at least one virtual representation of an object, in particular an obstacle, in the environment of the robot (together with the boundary and the workspace or protection space) is additionally visualized using the user interface.

[0045] In one embodiment, a user's switching input switches between visualizing the boundary during configuration together with the working space and visualizing the boundary during configuration together with the protection space, or allows switching between these visualizations. This allows for improved configuration, in particular, to be performed more easily and / or reliably, in one embodiment.

[0046] In one embodiment, the user interface can comprise, in particular be, a handheld device, in particular a handheld control device, a smartphone or the like, and / or a virtual reality or VR or augmented reality or AR interface, in particular VR or AR glasses or the like. As a result, in one embodiment, configuration can be improved, in particular carried out more simply and / or more reliably. According to one embodiment of the present invention, a system for configuring and / or checking a boundary for a robot or part of the robot, in particular hardware and / or software, in particular program technology, is set up to carry out a method described here and / or has means for providing geometric data of a workspace determined as a space freely accessible to the robot or part of the robot, or of a protective space complementary thereto.

[0047] According to one embodiment of the present invention, the system comprises means for configuring a boundary for the robot or part of the robot based on a user input, wherein this boundary is visualized during this configuration together with the workspace or protection space based on the user input and the provided geometry data using a user interface.

[0048] According to one embodiment of the present invention, the system

[0049] - means for planning a movement of the robot to check a or the configured limitation for the robot or part of the robot based on the provided geometry data;

[0050] - means for controlling drives of the robot to carry out the planned movement; and

[0051] - Means for detecting the triggering of a safety monitoring system as a result of the movement being carried out. Detecting the triggering of a safety monitoring system can, in particular, comprise detecting a signal from the safety monitoring system.

[0052] In one embodiment, the system or its means comprises:

[0053] - means for adjusting the robot to different robot positions and means for expanding the working space based on these robot positions or for reducing the protection space based on these robot positions; and / or

[0054] - means for sensor-based detection of an environment of the robot; and / or - means for adjusting the robot based on a manually applied load and / or on a user command input via an input interface and / or on automated path planning into at least one of the various robot positions; and / or

[0055] - means for adjusting the robot during, in particular as a result of, the configuration of the limitation into additional robot positions, and means for updating the workspace or the protection space on the basis of these additional robot positions; and / or

[0056] - Means for generating a proposal for the boundary to be configured based on the provided geometry data and means for visualizing this proposal using the user interface for configuring the boundary for the robot or part of the robot, wherein the configuration comprises accepting, modifying, or rejecting the proposal based on an evaluation input from a user, wherein the proposal is generated in one embodiment by means of data processing based at least partially on machine learning and / or pattern recognition and / or predetermined parameters of a topology of the robot and / or the environment; and / or

[0057] - means for visualising the planned movement before performing it using the user interface; and / or

[0058] - means for storing, when carrying out the planned movement, the movement and / or detecting a triggering of the safety monitoring as a result of carrying out the movement, and means for generating, based thereon, in particular a visualisation of the planned and / or carried out movement and / or also based on a test input from a user, a test protocol;

[0059] - Means for additional visualization, when visualizing the boundary during configuration together with the workspace or protection space based on the user input and the provided geometry data using the user interface, a virtual representation of the robot or part of the robot and / or at least one virtual representation of an object in the environment of the robot; and / or - Means for switching, as a result of a user switching input, between visualizing the boundary during configuration together with the workspace and visualizing the boundary during configuration together with the protection space.

[0060] A means within the meaning of the present invention can be designed in hardware and / or software, in particular at least one, in particular digital, processing unit, in particular a microprocessor unit (CPU), graphics card (GPU) or the like, preferably connected to a memory and / or bus system for data or signals, and / or one or more programs or program modules. The processing unit can be designed to execute instructions implemented as a program stored in a memory system, to detect input signals from a data bus, and / or to output 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 the methods described here oris capable of carrying out, so that the processing unit can carry out the steps of such methods and thus in particular can configure and / or check a limitation for a robot or part of the robot or can assist a user in doing so. In one embodiment, a computer program product can have, in particular be, a storage medium, in particular a computer-readable and / or non-volatile one, for storing a program or instructions or with a program or instructions stored thereon. In one embodiment, execution of this program or these instructions by a system or a controller, in particular a computer or an arrangement of several computers, causes the system or the controller, in particular the computer(s), to carry out a method described here or one or more of its steps, or the program or the instructions are configured to do so.In one embodiment, one or more, in particular all, steps of the method are fully or partially computer-implemented or one or more, in particular all, steps of the method are fully or partially automated, in particular by the system or its means.

[0061] In one embodiment, the system comprises the robot. In one embodiment, the boundary for the robot or part of the robot is configured in such a way; in a further development, a suggestion for the boundary to be configured is generated based on the provided geometric data such that the boundary lies at least partially, preferably entirely, within the workspace or at least partially, preferably entirely, outside the protection space, in one embodiment by a predetermined minimum distance.

[0062] Further advantages and features emerge from the subclaims and the exemplary embodiments. The following shows, partly schematically:

[0063] Fig. 1: a system for configuring and / or checking a boundary for a robot according to an embodiment of the present invention; and

[0064] Fig. 2: a method for configuring and / or checking a boundary for a robot according to an embodiment of the present invention.

[0065] Fig. 1 shows a system for configuring and / or checking a boundary for a robot 10 having a controller 20 with an input / output interface 21 according to an embodiment of the present invention.

[0066] For configuration, the freely accessible workspace ("Explored Space") for the robot or part of the robot is first explored based on the movement of the robot 10 by a user and subsequent evaluation of the joint angle positions stored in this process. The workspace is successively expanded by the volume traversed by the robot or part of the robot during the movement ("Swept Volume"), or conversely, a complementary protective space is reduced accordingly. Alternatively or additionally, the freely accessible workspace for the robot or part of the robot, or the complementary protective space, can also be determined using sensors, for example, using one or more cameras 22.

[0067] Such a working space is indicated by empty voxels in Fig. 1, and a protection space by cross-hatched voxels.

[0068] After the above-described step S10 (cf. Fig. 2), in which the workspace or explored space is determined, in one embodiment approximated, the workspace or explored space or the complementary protective space is visually displayed to the user using the input / output interface 21, which accordingly forms or has a user interface, wherein the user can switch between the two views "workspace" and "protective space". The display takes place, for example, on a computer screen or on a smartpad or touchpad or a dedicated device, for example a smartphone, or on augmented reality glasses (AR glasses) 23. Optionally, further virtual representations of known obstacles, for example CAD data or the like, are also visualized.

[0069] The user can manually configure the desired virtual boundary in step S30. Virtual walls or spaces, for example, in the form of cuboids, prisms, or the like, are displayed together with the workspace or explored space, or the complementary shelter space.

[0070] This combination of both displays supports spatial understanding for an inexperienced user and helps avoid sources of error when configuring and verifying virtual boundaries. For example, it makes it easier to assess the accuracy of parameters regarding translations and orientations of the virtual spaces. A possible incorrect positioning of a virtual space used to limit robot movement is quickly noticed by the user due to the overlap, non-overlay, or partial overlap with the workspace or explored space, and can be corrected accordingly.

[0071] Optionally, a suggestion for configuring the virtual boundaries is automatically generated before and / or during configuration.

[0072] For example, in step S20, an algorithm automatically detects possible obstacle geometries in the robot's environment based on the workspace or explored space. For example, if straight surfaces with rectangular indentations or curves with a regular radius are clearly visible, these can be recognized as a table, cabinet, wall, (cylindrical) column, or the like.

[0073] In addition to such geometric information, topological and semantic information can also be automatically incorporated. For example, an artificial intelligence system, such as empirical knowledge, learned knowledge, an artificial neural network or the like, can recognize a manual workstation for a human worker and then the program automatically proposes to the user that a boundary or an area restricted to the robot or part of the robot be set up at the corresponding location, and determines the corresponding parameters of the virtual boundary for this purpose. The automatically generated suggestion can be displayed visually together with the workspace or explored space, in particular on the screen, smartpad / touchpad, smartphone, AR glasses, or the like.

[0074] The user can then accept, modify or reject the automatically generated suggestion in step S30.

[0075] Again, as an example, the boundaries of a boundary are indicated in bold dashed lines in Fig. 1.

[0076] The user can reject the automatically generated suggestion regarding a suspected obstacle, for example, because it is actually a freely accessible space rather than an obstacle. This indicates that the geometric data of the workspace or explored space was incomplete. Optionally, a corresponding trajectory can then be automatically planned and executed to expand the initially provided workspace or explored space in this area with additional (geometry) data. The visualization of the workspace or explored space is then updated accordingly.

[0077] Collision-free path planning can advantageously ensure that the automatically generated robot movements do not leave the already determined explored space or the space additionally specified or confirmed by the user as freely accessible. This ensures that the automatically generated robot movements do not cause collisions.

[0078] The data-based update of the Explored Space ensures that users don't mistakenly classify spaces with obstacles as "freely accessible." This feature can therefore be thought of as a kind of easy-to-use double-check to avoid errors.

[0079] The virtual boundary is then checked using the workspace or explored space. The robot or part of the robot can move collision-free within the workspace or explored space. Therefore, collision-free robot movements can be planned based on the explored space, preferably as part of offline robot programming, and implemented in or by corresponding robot programs, which serve to automatically check the previously configured virtual boundaries. The robot movements can preferably be monitored by the user or automatically. During this time, the robot trajectory is recorded and saved over time, preferably both Cartesian and in axis space, or depending on the points of interest of the safety spaces, e.g., TCP, third axis, elbow, or the like. The time of the safety trigger or the activation of the safety monitoring system is also recorded and saved.This data can, if necessary, be later loaded and visualized in a virtual 2D or 3D animation and verified by the user or automatically, with a corresponding verification report being accepted, preferably signed, by the user.

[0080] Accordingly, in a step S40, a movement of the robot is planned to check the configured limitation for the robot or part of the robot based on the provided geometry data, and in a step S50, drives 11 of the robot are controlled to carry out the planned movement and a triggering of a safety monitoring device as a result of this execution of the movement is detected, wherein during this execution of the planned movement, the movement and / or a detection of a triggering of the safety monitoring device as a result of the execution of the movement is stored, wherein based on this, in particular a visualization of the planned and / or executed movement and / or also on the basis of a test input from a user, a test report can be generated (step S60).

[0081] The invention can assist a user in configuring the virtual boundary, but does not necessarily completely relieve the user of this task. In one embodiment, the user can or must manually test the virtual boundary configuration as before.

[0082] In the present disclosure, "has an X" generally does not imply an exhaustive list, but is a shortened form of "has at least one X" and also includes "has two or more Xs" and "has Y in addition to X." Although exemplary embodiments have been explained in the foregoing description, it should be noted that numerous modifications are possible. Furthermore, it should be noted that the exemplary embodiments are merely examples and are not intended to limit the scope, applications, or construction in any way.Rather, the foregoing description provides the person skilled in the art with a guide for the implementation of at least one exemplary embodiment, whereby various changes, in particular with regard to the function and arrangement of the described components, can be made without departing from the scope of protection as it results from the claims and combinations of features equivalent to these.

[0083] List of reference symbols

[0084] 10 robots

[0085] 11 Drive

[0086] 20 Control 21 Input / output interface

[0087] 22 Camera

[0088] 23 AR glasses

Claims

Patent claims 1. A method for configuring and / or testing a boundary for a robot (10) or a part of the robot, comprising the step: - Providing (S10) geometric data of a workspace determined as a space freely accessible to the robot or part of the robot or of a complementary protective space; wherein the method comprises the step: - Configuring (S30) a boundary for the robot or part of the robot based on a user input, wherein this boundary is visualized during this configuration together with the workspace or protection space based on the user input and the provided geometry data using a user interface (21; 23); and / or comprising the steps: - Planning (S40) a movement of the robot to check a or the configured limitation for the robot or part of the robot based on the provided geometry data; - Controlling (S50) the robot’s drives to carry out the planned movement; and - Detecting a triggering of a safety monitoring device as a result of the movement being carried out.

2. Method according to claim 1, characterized in that the provision of the geometry data - adjusting the robot to different robot positions, whereby the working space is extended or the protection space is reduced based on these robot positions; and / or - includes a sensor-based detection of an environment of the robot and / or that - the workspace or the shelter is discretized.

3. Method according to claim 2, characterized in that - the robot is adjusted to at least one of the different robot positions based on a manually applied load and / or on a command input from a user via an input interface and / or on automated path planning; and / or - during, in particular as a result of, the configuration of the boundary, the robot is moved to additional robot positions, whereby the workspace or the protection space is updated on the basis of these additional robot positions.

4. Method according to one of the preceding claims, characterized by the steps: - generating (S20) a proposal for the boundary to be configured based on the provided geometry data; and - Visualizing this proposal using the user interface to configure the boundary for the robot or part of the robot, wherein configuring includes accepting, modifying, or rejecting the proposal based on a user's evaluation input.

5. The method according to claim 4, characterized in that the proposal is generated by means of data processing based at least partially on machine learning and / or pattern recognition and / or predetermined parameters of a topology of the robot and / or the environment.

6. Method according to one of the preceding claims, characterized in that - the planned movement is visualized using the user interface before it is carried out and / or - when carrying out the planned movement, the movement and / or a detection of a triggering of the safety monitoring as a result of the movement being carried out is stored, based on this, in particular a visualisation of the planned and / or carried out movement and / or based on a user's test input, a test report is generated (S60).

7. Method according to one of the preceding claims, characterized in that - when visualising the boundary during configuration, together with the workspace or protection space based on the user input and the provided geometry data, a virtual representation of the robot or part of the robot and / or at least one virtual representation of an object in the environment of the robot is additionally visualised using the user interface; and / or - as a result of a user switching input, switching is carried out between visualising the boundary during configuration together with the working space and visualising the boundary during configuration together with the protection space.

8. Method according to one of the preceding claims, characterized in that the user interface comprises a handheld device and / or a VR or AR interface.

9. System for configuring and / or checking a limitation for a robot (10) or part of the robot, which is arranged to carry out a method according to one of the preceding claims and / or - means for providing geometric data of a workspace determined as a space freely accessible to the robot or part of the robot or of a protective space complementary thereto; and - means for configuring a boundary for the robot or part of the robot based on a user input, wherein this boundary is visualized during this configuration together with the workspace or protection space based on the user input and the provided geometry data using a user interface; and / or - Means for - Planning a robot movement to check a configured limitation for the robot or part of the robot based on the provided geometry data; - Controlling robot drives to perform the planned movement; and - detecting the triggering of a safety monitoring device as a result of the movement being carried out.

10. Computer program or computer program product, wherein the Computer program or computer program product, in particular containing instructions stored on a computer-readable and / or non-volatile storage medium, which, when executed by one or more computers or a system according to claim 9, cause the computer(s) or the system to carry out a method according to one of claims 1 to 8.

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