DE102006007623A1 - Robot with a control unit for controlling a movement between an initial pose and an end pose - Google Patents

Abstract

The invention is based on a robot, in particular an industrial or articulated robot, with at least two degrees of freedom of movement (alpha <SUB> 1 </SUB>, alpha <SUB> 2 </SUB>) and a control unit (12) for controlling one Movement between a starting pose (14) and an ending pose (16). In order to equip a generic robot with a control unit (12) which effectively prevents an unwanted collision of the robot with objects (64) in its working area, it is proposed that the control unit (12) have a storage unit (30) for storing a map (32) comprises in which at least one interference contour (34) can be recorded.

Description

The The invention relates to a robot, in particular of an industrial or articulated robots, with at least two degrees of freedom of movement and a control unit for controlling movement between one Initial pose and an end pose and method for controlling a Movement of a robot between an initial pose and an end pose in at least two degrees of freedom of movement, one movement path is generated between the initial pose and the final pose.

Out In the prior art, a robot, for example an industrial or articulated robots, with at least two degrees of freedom of movement known. The robot comprises a control unit for controlling a Movement between an initial pose and an end pose along a preprogrammed motion path that is piecewise linear or circular Path segments composed. To program the motion path It is known that an operator in a teach-in operation a Robotic arm of the robot leads manually on the path and thereby disturbing contours in the range of the gripping arm bypasses. The control unit stores individual rounding points of the path and reproduces the movement approximately by a piecewise rectilinear motion that the rounding points combines. Alternatively, the individual rounding points be entered when programming the control unit. As "straight" or "linear" should in this Context in particular also those movements are designated, those in a robot's axis-related coordinate system run. In the axis-related coordinate system of the robot, in addition to linear and rotatory axes represented in Cartesian coordinates be.

Of the The invention is in particular the object of a generic robot equipped with a control unit, which is an unwanted collision of the robot with objects effectively prevented in its range.

The Task is solved by a robot, in particular an industrial or articulated robot, with at least two degrees of freedom of movement and a control unit for controlling a movement between an initial pose and a Endpose, wherein the control unit has a memory unit for storing a map, in which at least one interference contour as well as by a method for controlling such Robot.

The Invention is based on a robot, in particular an industrial or articulated robots, with at least two degrees of freedom of movement and a control unit for controlling a movement between an initial pose and an end pose.

It It is suggested that the control unit be a storage unit for storing a map, in which at least one interference contour can be recorded. The control unit can be to any points or poses of the movement check whether the point or the pose inside or outside a disturbing contour lies. Detects the control unit that the point or pose is within the interference contour it can generate a warning signal or block a movement. This may cause a collision with an object represented by the interference contour safely avoided.

A designed according to the invention Control unit can in principle be used to control each robot be in the range of static or at least only slowly variable objects emotional. Because of the comparatively large computational time required however, the solution according to the invention is the necessary coordinate transformations particularly advantageous in connection with articulated robots or SCARA robots can be used in industrial applications.

As a "map" should in this context a multidimensional data structure, which also an overlay or projection of one or more one-dimensional data structures can be. The map is an illustration representing every pose of the Assigns a value to the robot from which it can be deduced The robot or one of its gripping arms inside or outside the interference contour located. Quick access to the map can be achieved if the dimension of the map is less than or equal to a number the degree of freedom of movement of the robot.

The Map will be particularly beneficial in an initialization process of the robot generated to expended in determining a motion path Calculation time as possible to keep low.

In a further development of the invention, it is proposed that the control unit is provided to automatically generate a movement path between the initial pose and the final pose as a function of the map. As a result, ease of use can be significantly increased since only one start and end point of the movement must be programmed, provided that the environment of the robot and thus the interference contour to be considered does not change. It is possible to achieve a systematic separation between the application-specific movement data or the coordinates of the poses to be controlled and the often application-independent interference contours. Under "intended" should be understood in this context as "interpreted" and "equipped".

If the control unit is programmed to display the map for generating the movement path in at least two areas with different levels of detail can be divided, one can generate the computation time to be expended is significantly reduced, because of superfluous detail in areas that are widely available of interfering contours are, can be waived. In such areas, the control unit Compose the motion path of long segments while in critical areas with highly structured interference contours a small step Motion sequence can be generated. Generating the motion path can be further accelerated if the movement is preferable passed through such areas which are uncritical in terms of detail and only in cases in which it is unavoidable or beneficial in an overall context The movement is guided into areas where to collision avoidance a high degree of detail is necessary.

is programmed the control unit so that the map for Generate the motion path in several sub-maps with predetermined Splitting Paths can further accelerate the generation of the path because to traverse the areas corresponding to the sub-maps the movement space of the robot on the given path parts resorted can be. The predetermined path parts preferably connect Edge points of the sub-maps in a straight line with each other.

One Transformation process of a spatial coordinate system on an axis-related coordinate system can be on the initialization process the control unit are advanced when the memory unit for Save the map provided in the axis-related coordinate system is. When generating the motion path is then a coordinate transformation not necessary anymore.

A Reference travel of the robot can be shortened or completely eliminated, if the robot has at least one absolute value encoder for detecting a Absolute value of at least one coordinate of a current pose includes. Particularly advantageous embodiments of the invention, in which all axes of the robot or a gripper arm of the robot equipped with absolute encoders.

The Control unit can the interference contour automatic detect when the robot has at least one sensor for detecting the interference contour includes. In a particularly flexible embodiment of the invention the sensor part of a camera, in particular a CCD camera, the Captured images of an environment of the robot. Through relevant image processing programs the control unit can choose from the images captured by the camera the interference contour determine and enter in the map.

A External input of the map can be avoided, the control unit is provided, the map depends on a given interference contour to generate. A specification of the interference contour is special comfortable and without elaborate conversion operations in a world coordinate system of the robot possible.

The Computing time to generate the map can be reduced are, if the control unit is intended to generate the map on at most 20 parameters limited Model for an outer contour to use a gripper arm. Because of the gained by the model approximation Computational advantages can be due to a fast processor and large memory be omitted, which ultimately also cost advantages for the production of the robot.

A particularly fast and easy determination of the interference contour can be achieved when the model through the outer contour of the gripper arm through represents at least one polygon.

alternative or in addition For this, the model can be the outer contour represent the gripper arm by at least one circle. Also combinations circles and polygons or other simple geometric shapes are conceivable. The model does not generally have the full three-dimensional outer contour represent the gripper arm, but can be based on a projection of the Dimension of the map limited become.

A sufficiently precise Modeling a robotic arm of the robot can be done with little effort be achieved, that each independent arm part of the gripper arm by a single elementary geometric shape, for example by a polygon.

Further The invention relates to a method for controlling a movement a robot, in particular a robot of the one described above Art.

It It is suggested that when generating the motion path a Map is used, in which at least one interference contour is recorded. A Collision with through the interference contour represented objects or obstacles in a range of the robot can thereby be avoided.

Further Features of the invention and its advantages will be apparent from the following Figures. The figures show embodiments of the invention. The figures, the description and the claims contain numerous features in combination, which the professional also look at individually and to meaningful further combinations will summarize.

there demonstrate:

1 a robot with a gripper arm in a plan view with a schematically illustrated first model of two lines for an outer contour of the gripping arm;

2 the robot with the gripper arm out 1 with a schematically illustrated second model of circles for an outer contour of the gripping arm;

3 the robot with the gripper arm out of the 1 and 2 with a schematically illustrated third model of two rectangles for an outer contour of the gripping arm;

4 the robot with the gripper arm out of the 1 - 3 with a schematically illustrated further model of two polygons for an outer contour of the gripping arm;

5 a working space of the robot from the 1 - 4 with objects that generate an interference contour, in a plan view in world coordinates;

6 a map with the Störkonturen the arrangement of the objects 5 according to the first model for the outer contour of the gripping arm;

7 a map with Störkonturen according to the third model for the outer contour of the gripper arm;

8th a schematic representation of the manual generation of a motion path in a map with Störkonturen;

9 a schematic representation of the autonomous generation of a motion path in a map with Störkonturen; a schematic representation of the autonomous generation of a motion path in a map with Störkonturen according to an alternative algorithm;

10 a schematic representation of the autonomous generation of a movement path in a map with Störkonturen for another alternative algorithm that divides the map into areas with different levels of detail;

11 a first sub-map of the map 11 ;

12 a second sub-map of the map 11 ;

13 a third sub-map of the map 11

14 a fourth sub-map of the map 11 ; and

15 a schematic representation of the autonomous generation of a movement path in a map with Störkonturen for another alternative algorithm that divides the map into rectangular sub-maps.

1 ₁ shows a robot, by way of example only, an industrial robot embodied as a SCARA robot, having at least two degrees of freedom of movement with the rotational coordinates α ₁ , α ₂ and a control unit shown here only schematically 12 for controlling a movement between an initial pose 14 and an end pose 16 ( 7 ).

The robot includes a swiveling gripping arm 10 which is pivotable about a first, vertically extending rotary axis A1. The gripper arm 10 is on a pedestal 22 mounted and consists of two by a joint 24 connected arm parts 60 . 62 , The arm parts 60 . 62 are through the joint 24 about a parallel to the first rotary axis A1 extending second rotary axis A2 pivotally. Other axes of the robot are not explicitly shown here.

The gripper arm 10 of the robot comprises two absolute value encoders shown here only schematically 26 . 28 for detecting an absolute value of the rotational coordinates α ₁ , α _{2 of} a current pose. However, the invention would in principle also be applicable if the gripping arm 10 only incremental for detecting changes in the values of the rotational coordinates α ₁ , α ₂ would have. It would then be a reference to reference marks with a known position in space necessary.

In the area of the gripper arm 10 are disturbing objects 64 , in the present example bars, arranged ( 5 ). The vertical extent is considered infinite. A third and a fourth axis of the robot and an arrow attached to the Tool Center Point (TCP) are not considered in the approximation described here. However, the generalization of the solution according to the invention to the consideration of more than two axes A1, A2 is obvious and obvious to the person skilled in the art.

The control unit 12 includes a storage unit 30 to save a map 32 , in which at least one interference contour 34 can be recorded. The storage unit 30 is to save the map 32 provided in an axis-related coordinate system. The control unit 12 must have the contours of the objects 64 enter into the axis-related coordinate system such that there is a risk of collision between the gripper arm 10 and one of the objects 64 from the map 32 is readable. A storage space is reserved for a binary 360 × 360 matrix that represents the map 32 forms. If an entry has the value zero, the point represented by the corresponding entry is outside the interference contour 34 otherwise the point lies within the interference contour 34 and is therefore for the gripper arm 10 without colliding with an object 64 not available. The accuracy of the map, determined by the step size of the map, corresponds to the accuracy of the pose determination of the robot or vice versa. The control unit 12 measures the value of the coordinates α ₁ , α ₂ or angle and reads the value associated with the pose by the integer indices of the matrix from the memory unit 12 out. The matrix therefore forms a discrete, two-dimensional map 32 which assigns each pair or each pair of values to the coordinates α ₁ , α ₂ an index pair and thereby a value.

Other embodiments of the invention would be conceivable in which the map is multi-dimensional, in particular three-dimensional, the value range of the map 32 has more than two elements and / or in which the value associated with a pose, for example, a characteristic for a distance to the next interference contour 34 is. Furthermore, it is of course conceivable, the step size of the discretization of the map 32 less than or greater than 1 °.

The 1 - 16 show several alternative embodiments of the invention. Functionally identical features are provided with the same reference numerals. In each case, the description deals in particular with differences from the exemplary embodiments described above, while reference is made to the description of the previously described exemplary embodiments with regard to features which remain the same.

2 shows a robot in an alternative embodiment of the invention, in which the gripping arm 10 here only sketchy illustrated sensors 46 - 46 ''' for detecting a disturbing contour 34 includes. The sensors 46 - 46 ''' are designed as inductive proximity sensors.

In an initialization process, the control unit uses 12 to generate the map 32 a limited to a few parameters model for an outer contour 58 a gripper arm 10 , There are several models conceivable in the 1 - 4 are shown schematically and explained below.

In a realistic implementation of the model, which is not explicitly shown here, the control program approximates the outer contour 58 or the volume of the gripper arm 10 by mass points or voxels or finite elements. Because of the necessary high number of mass points, the computational effort to create the map 32 very high and also requires a similarly elaborate modeling of the objects 64 in the area of the gripper arm 10 , Therefore, models that require less computation compared to mass point modeling are described below.

In a first implementation of a control program, the model represents the outer contour 58 of the gripper arm 10 through two lines 48 . 50 each representing an arm part 6O . 62 of the gripper arm 10 depict. The coordinates of the endpoints of the lines 48 . 50 can with knowledge of the lengths of the lines 48 . 50 and the rotational coordinates α ₁ , α _{2 are} calculated trigonometrically. Because a width of the gripper arm 10 or the arm parts 60 . 62 In the model is not considered, to avoid collisions safely zones between the lines 48 . 50 and the objects described by edge contours 64 be taken into account, which are at least as large as the maximum distance of the outer contour 58 from the lines 48 . 50 ,

One from the Störkontur constellation according to 5 resulting map 32 according to the first implementation is in 6 shown. In the 5 Objects arranged to the left of the robot 64 generate a common connected component of the interference contour 34 , The centrally disposed in front of the robot object blocks a range of angles relative to the first rotational coordinate α. ₁ On the left and right out of this angular range protruding bulges are due to the fact that a rear end of the front arm 62 of the gripper arm 10 hits the object. An object arranged radially further to the right of the robot generates a third, island-like connected component of the interference contour 34 ,

In a second implementation of a control program, the model or control unit provides 12 the outer contour 58 of the gripper arm 10 through seven different circles 56 dar ( 2 ). The surfaces of the circles 56 cover the outer contour 58 Completely. The coordinates of the centers of the circles 56 lie on the lines 48 . 50 ( 1 ) and become aware of the lengths of the lines 48 . 50 and the rotational coordinates α ₁ , α ₂ trigonometrically calculated. The contours of the objects 64 are covered in the same way by circles. To calculate the map 32 checks the control unit 12 to each value pair of coordinates α ₁ , α ₂ , whether one of the gripper arm 10 covering circles 56 one of the objects 64 overlapping circles intersects. If this is the case, then the control unit carries 12 a point of the interference contour 34 in the map 32 one.

In a third implementation of a control program, the model or control unit provides 12 the outer contour 58 of the gripper arm 10 through two polygons 52 . 54 dar ( 3 ), by rectangles, each one of the arm parts 60 . 62 cover and the corresponding arm part 60 . 62 represent. The 16 margins of the two polygons 52 . 54 are used to generate the map 32 as well as the marginal lines of the objects 64 in the area of the gripper arm 10 from the control unit 12 represented by straight lines and parameterized by the two coordinates α ₁ , α ₂ and by two lengths and two widths. Two further parameters describe the position of the axes A1, A2 within the polygons 52 . 54 , Overall, this results in less than 20 parameters of the model. To generate the map 32 checks the control unit 12 for each pair of values of the coordinates α ₁ , α ₂ , if and at which point one of the boundary lines of the polygons 52 . 54 one of the marginal lines of the objects 64 cuts. If the point of intersection lies between the end points of the boundary lines, then the control unit carries 12 at the corresponding pose a point of the interference contour 34 in the map 32 one.

7 shows a map obtained according to the third implementation 32 with a disturbing contour 34 , Island-like, free inclusions in the Störkontur 34 result from the fact that the polygons 52 . 54 an object in the mathematical model 64 enclose so that none of the margins of the polygons 52 . 54 one of the marginal lines of the object 64 cuts. The corresponding poses are in reality for the gripper arm 10 inaccessible.

In a fourth implementation of a control program, the model represents the outer contour 58 of the gripper arm 10 through two polygons 52 ' . 54 ' dar ( 4 ), by a rectangle 52 ' and by an irregular hexagon 54 ' which has a conical shape of the front arm part 62 Takes into account. The polygons 52 ' . 54 ' are described analogous to the embodiment described above by their marginal lines, and the map 32 is generated by checking the intersections of the straight lines in the manner described above.

In alternative embodiments of the invention, the outer contour 58 of the gripper arm 10 and the contours of the objects 64 be modeled by other geometric shapes, such as triangles, other polygons, ellipses or combinations of such elemental figures. A higher degree of detail of the model can be found in particular for the front regions of the gripper arm 10 be worthwhile near the Tool Center Points.

The control unit 12 is designed by an implemented control software to operate automatically a motion path 36 ( 7 ) between the initial pose 14 and the final pose 16 depending on the map 32 to generate.

The control unit 12 uses the map 32 or in the map 32 recorded interference contour 34 and generates the motion path 36 depending on the given interference contour 34 or of the objects 64 whose coordinates are entered either manually or by the robot automatically via the sensors 46 - 46 ''' ( 2 ) can be detected.

8th shows one manually depending on the map 32 generated path. Starting from an initial pose 14 puts a programmer rounding points 66 . 66 ' such in the free areas outside the interference contour 34 in that the connecting line between the blending points 66 . 66 ' or between the initial pose 14 and the first blending point 66 or the last rounding point and the final pose 1b completely outside the interference contour 34 lies.

9 shows one autonomously from the control unit 12 generated motion path 36 which is generated by a maximum certainty algorithm. The algorithm is based on that the first arm part 60 by panning the axis A1 in steps, the increment of the map 32 correspond, in the direction of the final pose 16 emotional. The rotational coordinate α _{2 of} the second arm part 62 is set in each step such that the greatest possible distance to all interference contours 34 is complied with. For this purpose, the method checks the possible values of the coordinate α ₂ for a given coordinate α ₁ in a contiguous area, determines the mean value of the collision-free poses in this area, increases the value of the coordinate α ₁ by 1 and generates the movement path 36 by setting blending points 66 , In the event that the mean of the collision-free poses is too strong from the coordinate α _{2 of} the last blending point 66 deviates, the fluctuations are limited to a maximum value of o it is another, the expert appears to be useful, intelligent smoothing method used.

If the value of the coordinate α ₁ corresponds to the ent speaking value of the target pose 16 an attempt is made to bring axis A2 into position.

10 shows one autonomously from the control unit 12 generated motion path 36 which is generated by an alternative algorithm according to the minimum distance requirement. In this case, the value of the coordinate α _1, starting from the initial pose 14 or from a sanding point 66 first as far as possible in the direction of the target pose 16 postponed. If a collision-causing pose is encountered, the control unit continues 12 a sanding point 66 on the last collision-free pose with the value X of the coordinate α ₁ . Subsequently, the value of the coordinate α _{2 is} obtained from the blending point 66 until the pose with the value X + 1 or X - 1 of the coordinate α ₁ causes no collision. The control unit 12 sets a rounding point 66 ' to the pose thus found, from which the value X of the coordinate α ₁ moves further in the direction of the corresponding value of the target pose 16 can be moved. The steps described above are repeated until the axis A1 is in position. An attempt is then made to bring axis A2 into position. In the best case, no single rounding point has to be generated.

The two methods of path generation described last can be accelerated by a simultaneous path generation, simultaneously from the initial pose 14 and of the target pose 16 starts. This extension is especially necessary when the target pose 16 near a disturbing contour 34 located.

11 Fig. 12 shows, in a schematized manner, an alternative embodiment of the control software operating between a critical area 38 the map 32 and a non-critical area 40 the map 32 different. Here is the control unit 12 programmed so that they have the map 32 to generate the motion path 36 in two areas 38 . 40 with different levels of detail. A first, critical area 38 has a high surface density of the edge lines of the interference contour 34 on while a second area 40 free from interfering contours 34 is.

The control unit 12 share the map 32 to generate the motion path 36 in several sub-maps 42 - 42 ''' with given path parts 44 on. The sub-cards 42 - 42 ''' are each rectangular and their size depends on the area 38 . 40 in which they are arranged. To illustrate the process are four of the sub-maps 42 - 42 ''' marked with Roman numerals XII-XV and in the 12 - 15 shown in detail.

12 shows a first sub-map 42 the map 32 , free from interfering contours 34 is. The path parts 44 each connect the vertices of the sub-map 42 along an edge of the sub-map 42 together.

An in 13 illustrated sub-map 42 ' shows one at a left edge in the sub-map 42 ' protruding interference contour 34 , The start and end points of the given path parts 44 lie outside the interference contour 34 on an irregular square on the edge of the sub-map 42 ' ,

Another, in 14 illustrated sub-map 42 '' shows a section of the interference contour 34 which the sub-map 42 '' through a vertical, for the gripper arm 10 not accessible strip divides into two parts. A first group of start and finish points is on an irregular square at the edge of the first part of the sub-map 42 '' arranged and a second group of start and end points is on a triangle at the edge of the second part of the sub-map 42 '' arranged. There are seven sub-paths 44 , the start and end points in each case within a group along the edge of the quadrilateral or the triangle interconnect.

An in 15 illustrated sub-map 42 ''' becomes in two places of a disturbing contour 34 marked, from a first, at a top left corner in the sub-map 42 ''' protruding part of the interference contour 34 and a second, as a tip in the sub-map 42 ''' protruding part of the interference contour 34 , A total of seven start and finish points are by sub-paths 44 paired together.

In 16 shows an alternative way of path generation from a map 32 , which distinguishes between critical and uncritical areas. The control unit 12 divides the map 32 in rectangles of different sizes. The rectangles are each free of the interference contour 34 , In 16 Six such rectangles are labeled with Roman numerals I-VI. The division of the map 32 in the rectangles is done by known from image processing search-insertion process.

To create the motion path 36 uses the control unit 12 the following rules of conduct:
Within a rectangle, a direct point-to-point (PTP) movement can occur. For example, if a pose in rectangle I is reached and the final pose 16 Also located in rectangle I, the gripper arm can 10 without further sanding points to the final pose 16 move.

Two adjacent rectangles with a common page can always be considered as a rectangle with respect to the previous behavior rule. For example, if a pose in the Rectangle II is achieved and the final pose 16 Located in the rectangle V, the gripper arm can 10 without further sanding points in the final pose 16 move.

If there is no interference contour 32 in the working space, a single rectangle can be formed.

By dividing the map 32 in sub-cards 42 - 42 ''' or by the division into critical and uncritical areas 38 . 40 can the map 32 a required for path generation information is taken very quickly.

In an alternative embodiment of the invention, the robot does not come from an integrated control unit 12 but controlled by an external, designed as a universally programmable computer arithmetic unit. The arithmetic unit uses methods of controlling movement of the robot between an initial pose 14 and an end pose 16 in at least two degrees of freedom of movement α ₁ , α ₂ , wherein a movement path 36 between the initial pose 14 and the final pose 16 is generated by the arithmetic unit.

When generating the motion path 36 the arithmetic unit uses a map in the manner described above 32 , in which at least one interference contour 34 is recorded.

10

claw arm

12

control unit

14

Anfangspose

16

end pose

22

base

24

joint

26

Absolute encoder

28

Absolute encoder

30

storage unit

32

map

34

interference contour

36

motion path

38

Area

40

Area

42

under map

44

Path part

46

sensor

48

line

50

line

52

polygon

54

polygon

56

circle

58

outer contour

60

arm

62

arm

64

object

66

About grinding point

α ₁

coordinate

α ₂

coordinate

A1

axis

A2

axis

X

value

Claims (12)

Robot, in particular industrial or articulated robot, with at least two degrees of freedom of movement (α ₁ , α ₂ ) and a control unit ( 12 ) for controlling a movement between an initial pose ( 14 ) and an end pose ( 16 ), characterized in that the control unit ( 12 ) a storage unit ( 30 ) to save a map ( 32 ), in which at least one interference contour ( 34 ) is verzeichenbar. Robot according to claim 1, characterized in that the control unit ( 12 ) is intended to provide a motion path ( 36 ) between the initial pose ( 14 ) and the final pose ( 16 ) automatically depending on the map ( 32 ) to generate. Robot according to claim 2, characterized in that the control unit ( 12 ) is programmed in such a way that the map ( 32 ) for generating the motion path ( 36 ) into at least two areas ( 38 . 40 ) with un ferent detail accuracy splits. Robot according to claim 2, characterized in that the control unit ( 12 ) is programmed in such a way that the map ( 32 ) for generating the motion path ( 36 ) into several sub-cards ( 42 ) with predetermined path parts ( 44 ). Robot according to one of the preceding claims, characterized in that the memory unit ( 30 ) to save the map ( 32 ) is provided in an axis-related coordinate system. Robot according to one of the preceding claims, characterized by at least one absolute value encoder ( 26 . 28 ) for detecting an absolute value of at least one coordinate (α ₁ , α ₂ ) of a current pose. Robot according to one of the preceding claims, characterized by at least one sensor ( 46 - 46 ''' ) for detecting a disturbing contour ( 34 ). Robot according to one of the preceding claims, characterized in that the control unit ( 12 ) is provided for the map ( 32 ) depending on a given interference contour ( 34 ) too to generate. Robot according to one of the preceding claims, characterized in that the control unit ( 12 ) is intended to generate the map ( 32 ) a model for an outer contour limited to a maximum of 20 parameters ( 58 ) of a gripping arm ( 10 ) to use. Robot claim 9, characterized in that the model is the outer contour ( 58 ) of the gripper arm ( 10 ) by at least one polygon ( 52 . 54 ). Robot according to one of claims 9 or 10, characterized in that the model of the outer contour ( 58 ) of the gripper arm ( 10 ) by at least one circle ( 56 ). Method for controlling a movement of a robot, in particular a robot according to one of the preceding claims, between an initial pose ( 14 ) and an end pose ( 16 ) in at least two degrees of freedom of movement (α ₁ , α ₂ ), wherein a movement path ( 36 ) between the initial pose ( 14 ) and the final pose ( 16 ) is generated, characterized in that when generating the movement path ( 36 ) a map ( 32 ) is used, in the at least one interference contour ( 34 ) is recorded.