MOVING A REFERENCE FIXED ON A ROBOT

The invention relates to a method for moving a reference fixed on a robot, in particular an end effector (12), of a robot, in particular a multi-axis robot arm (10), on the basis of a number, in particular a sequence, of predefined, discrete, permissible poses (Xd,i-2, Xd,i-1, Xd,i, Xd,i+1, Xd,i+2) of the reference, comprising the step (S80), which is, in particular, repeated multiple times: - exerting drive forces on the robot via drives (11) thereof in order to move the reference to follow a manual guiding force exerted on the robot on the basis of a difference between a current pose {x{t)) of the reference and a first pose (Xnear) of the permissible poses closest thereto, such that, in the case of a deviation between the current pose and the first pose, the drive forces effect a return force on the reference according to the difference, wherein the return force corresponds to a restoring force from the current pose to the first pose, according to the difference, the component of which restoring force is suppressed in the direction of a bridging between the first pose and a second pose, adjacent thereto, of the permissible poses, such that the component of a total force effected by the drive forces on the reference in the direction of the bridging is independent of the difference; and/or at least one portion of the drive forces is dependent, in particular linearly, on velocities of the drives and/or a velocity of the reference.