Apparatus and Method for Recording Positions

An apparatus (1) for recording positions (12, 14) in a control program (22) of a manipulator (10), which includes the manipulator (10), a controller (20) having the control program (22), and a manual control device (30), wherein the controller (20) can actuate the manipulator (10) in a compliance control, in which the manipulator (10) is allowed to occupy an actual position (14) different to the nominal position (12), wherein the controller (20), when recording the current position of the manipulator (10) in the control program (22), carries over into the control program (22) in a situation-based manner the nominal position (12), the actual position (14) or a hybrid position comprising nominal and actual components of the current position. In addition, a corresponding method is also disclosed. 本发明涉及一种用于将位置(12，14)记录到操纵器(10)的控制程序(22)中的装置(1)，所述装置具有：操纵器(10)；控制器(20)，其具有控制程序(22)；和手操作设备(30)；其中，所述控制器(20)可以在挠性调节中控制所述操纵器(10)，在所述挠性调节中允许所述操纵器(10)占据与额定位置(12)不同的实际位置(14)；其中，所述控制器(20)通过将所述操纵器(10)的当前位置记录到所述控制程序(22)中而根据情况地将所述额