METHOD AND SYSTEM FOR TRANSFERRING AN END EFFECTOR OF A ROBOT BETWEEN AN END EFFECTOR POSE AND A FURTHER END EFFECTOR POSE

In a method according to the invention for transferring an end effector (14) of a robot between an end effector pose and a further end effector pose, for at least one axis (q1) of the robot, the sameuniform course (q1(s)) of the position of said axis is specified (S30), more particularly in advance, for the transfer between the one end effector pose and the one further end effector pose and for transfers between the one end effector pose and a group of other further end effector poses, more particularly in dependence on activation of a control-operating mode. For at least one further axis (12, 13) of the robot, different courses of the position of said further axis are commanded (S50), more particularly during the transferring, for the transfer between the one end effector pose and the one further end effector pose and the transfer between the one end effector pose and at least one of the other further end effector poses. 一种根据本发明的用于使机器人的末端执行器(14)在一末端执行器姿势与另一末端执行器姿势之间转移的方法，特别是根据控制-操作模式的激活，对于机器人的至少一个轴(q1)，特别是提前