Method for controlling and/or regulating drive motor of robot during manufacturing car body, involves assigning drive motors and retaining device to robot axes, and controlling and regulating motors asynchronously to each other

The method involves assigning a drive motor i.e. electrical drive motor, and a braking-and/or retaining device to robot axes. The drive motors are asynchronously controlled and/or regulated to each other. A movement of the drive motors of the robot is simultaneously started. An equivalent large setting velocity is adjusted at all the movement of the drive motors of the robot. The braking-and/or retaining device assigned to the robot axes is immediately activated based on the termination of the respective setting movements (Z1-Z6) of the drive motors. Die Erfindung betrifft ein Verfahren zur Steuerung und/oder Regelung von Antriebsmotoren eines Roboters, wobei jeweils ein Antriebsmotor und eine Brems- und/oder Haltevorrichtung einer Roboterachse zugeordnet ist und ein Roboter eine Mehrzahl von Roboterachsen umfasst. Erfindungsgemäß werden die Antriebsmotoren asynchron zueinander gesteuert und/oder geregelt.