Robot system

The invention relates to a robot system. The robot system is provided with a manipulator, in particular to a multi-axis articulated-arm robot. The robot system further comprises a control device used for controlling the manipulator to especially comply with a preset monitoring boundary. A control system is configured and characterized in that the start or speed limit of the stop motion is adjusted based on the determined actual speed change. Thus, the robot system is particularly suitable for the trajectory motion by virtue of spline interpolation. 本发明涉及种机器人系统，其具有操纵器、特别是多轴关节臂机器人。此外，机器人系统还包括控制装置，该控制装置设置用于控制操纵器，以遵守特别是预设的监控边界。在此将控制系统设置为，基于所确定的实际调速变化，调节停止运动的开始或速度限制。因此，根据本发明的机器人系统特别是适用于借助样条曲线内插的轨迹运动。