DE102017004433B4 - robot mastering - Google Patents

Abstract

An inventive method for adjusting a robot (1) comprises the steps:
Determining (S30) a plurality of joint positions (q _{1, i} , q _{2, i} , q _{3, i} , q _{4, i} , q _{5, i} , q _{6, i} ) when a predetermined path (g) is traveled with one robot-fixed reference (4) by means of a detection means (2); and
- determining (S40) an offset of the detection means on the basis of the determined joint positions.

Description

The present invention relates to a method for adjusting, controlling and / or monitoring a robot as well as a controller and a computer program product for carrying out the method and a robot arrangement with the controller.

In particular, incremental or relative encoders of a robot for detecting its joint positions can be adjusted by moving the robot into a defined adjustment pose, in which these detection means are initialized with values predetermined for this pose.

Accordingly, the accuracy of the subsequently determined joint positions, and thus in particular the accuracy of, in particular for controlling and / or monitoring the robot based on these joint positions determined position of a robot-fixed reference as the TCP depends on this adjustment, in particular the accuracy with which the Adjustmentpose is approached.

From the DE 10 2007 001 395 A1 Therefore, a method for adjusting a robot is known, in which this first brought in a so-called Urjustage in a precisely defined Justagepose and precisely measured in this relative positions of features on the robot members. To restore the adjustment position after a loss of adjustment, the robot is then moved until these relative positions are reached again.

Due to the necessary precision, this method requires a high expenditure on equipment.

From the US 2004/0093119 A1 For example, a method for increasing the accuracy of movement of an industrial robot is known in which a robot-guided tool occupies a plurality of positions generated by a control, each determined by a measuring system, wherein a deviation between the generated and the positions determined by the measuring system as a correction in the control is entered to adjust the movement. The positions generated and those determined by the measuring system are each arranged to form a first or second path, the correction being determined by a path deviation between geometrically calculated positions in the respective path.

An object of an embodiment of the present invention is to improve an adjustment, control and / or monitoring of a robot, in particular to reduce a measuring expenditure on equipment for the adjustment and / or to increase speed and / or precision of adjustment, control and / or monitoring ,

This object is achieved by a method having the features of claim 1. Claims 13-15 protect a (robot) controller or a computer program product for carrying out a method described here or a robot arrangement with a controller described here. The subclaims relate to advantageous developments.

According to one embodiment of the present invention, the robot of a robot arrangement has at least or exactly three, four, six or seven joints or (motion) axes, in particular rotational joints and / or translational or linear joints or axes , and / or, in particular electromotive, drives for moving or adjusting the joints or axes. In one embodiment, the robot is a redundant and / or delta robot. In such robots, the present invention can be used with particular advantage.

$$q=T^{-1}\left(P\right)$$

In general, a so-called forward transformation transforms T positions [ q ₁ ... q _k ] ^T = q of the k joints or axes of the robot at positions P of a robot-fixed reference, in particular a TCP, the robot or vice versa a reverse transformation T ^-1 Positions P of the robot-fixed reference to q its joints: $$P=T\left(q\right)$$

$$q=T^{-1}\left(P\right)$$

A position, in particular a robot-fixed reference, within the meaning of the present invention can in one embodiment (only or also) a one-, two- or three-dimensional, in particular Cartesian, place or distance and / or (only or also) a one, two-dimensional or three-dimensional orientation (of the robot-fixed reference) (relative to a reference or coordinate system), in particular, for example three spatial coordinates ( P _x . P _y . P _z ) and / or have three orientation angles, in particular be determined thereby. One, in particular predetermined, path of a robot-fixed reference comprises in one embodiment a (Ab) sequence of such positions, it may be defined or formed in particular by this. In one embodiment, a (predetermined) path G an (Ab) sequence of Cartesian locations of a robot-fixed reference point and / or a (Ab) sequence of three-dimensional orientations of a robot-fixed reference coordinate system, in particular in stationary Coordinate system origin, ie, a mere reorientation in fixed TCP, include, in particular.

mit dem Bahnparameter, beispielsweise einer, insbesondere verallgemeinerten, Bahnlänge, λ.When departing a (predetermined) path G with the robot-fixed reference, their positions have a geometrical relationship determined or predetermined by the path: $$P=G\left(\mathrm{\lambda }\right)$$

with the orbital parameter, for example, a, in particular generalized, track length, λ.

mit den (geometrischen) Parametern p zur (geometrischen) Festlegung der vorgegebenen Bahn.This can now be exploited to adjust the robot, in particular a detection means of the robot for determining joint positions, in particular to determine a (constant) offset, in particular offset vector, Q of the detection means. Because for each determined by the detection means joint position q _i when driving off the given path G with the robot-fixed reference applies: $$P_{\text{i}}=G\left({\mathrm{\lambda }}_{\text{i}}.p\right)=T\left(q_{\text{i}}+Q\right)$$

with the (geometric) parameters p for (geometrically) defining the given path.

If, in one embodiment, the predetermined path is a straight line in the working space of the robot, which travels with a robot-fixed point, this path is characterized in particular by three coordinates ( P _x . P _y . P _z ) of a path point and two polar angles (α, β) which convey the direction v of the path in the working space: $$\begin{array}{cc}{P}_{\text{i}}=G\left({\mathrm{\lambda }}_{\text{i}}.p\right)={\left[{\text{P}}_{\text{x}}.{\text{P}}_{\text{y}}.{\text{P}}_{\text{z}}\right]}^{\text{T}}+{\mathrm{\lambda }}_{\text{i}}\cdot v\left(\mathrm{\alpha }.\mathrm{\beta }\right);& p=\left[{\text{P}}_{\text{x}}.{\text{P}}_{\text{y}}.{\text{P}}_{\text{z}}.\mathrm{\alpha }.\mathrm{\beta }\right]\end{array}$$

A given circular path is, for example, by three coordinates of a center point and a length 1 Normalized normal vector and the radius or a normal vector, which has the length of the radius, fixed, a mere reorientation, for example, by appropriate Euler or gimbal angle or the like.

With a sufficient number n of determined joint positions q _i results from (3) a (over) certain equation system for the unknown λ _i , p and Q.

Accordingly, based on determined joint positions q _i determine the offset Q of the detection means, in particular by means of an optimization method that optimizes a quality criterion G, which in particular of deviations between positions P _i the robot-fixed reference based on the determined joint positions q _i can be determined, and positions on the given path can minimize this particular, for example: $$\text{G}={{\displaystyle \underset{\text{i}=1}{\overset{\text{n}}{\Sigma }}\left[G\left({\mathrm{\lambda }}_{\text{i}}.p\right)-T\left(q_{\text{i}}+Q\right)\right]}}^{\text{T}}\cdot \left[G\left({\mathrm{\lambda }}_{\text{i}}.p\right)-T\left(q_{\text{i}}+Q\right)\right]$$

• - Ermitteln einer Mehrzahl von Gelenkstellungen q_i beim Abfahren einer vorgegebenen Bahn g mit einer roboterfesten Referenz mittels eines zu justierenden Erfassungsmittels; und
• - Ermitteln eines Offsets, insbesondere Offset-Vektors, Q dieses Erfassungsmittels auf Basis der ermittelten Gelenkstellungen.

Accordingly, according to an embodiment of the present invention, a method for adjusting the robot comprises the steps of:

• - Determining a plurality of joint positions q _i when departing a predetermined path G with a robot-fixed reference by means of a detection means to be adjusted; and
• - Determining an offset, in particular offset vector, Q of this detection means based on the determined joint positions.

As a result, in one embodiment, the adjustment can be improved, in particular an apparatus-related measurement effort for the adjustment can be reduced and / or its speed and / or precision can be increased, thus improving control and / or monitoring of the adjusted robot in a further development.

In one embodiment, the predetermined path is force, in particular yielding (keits) regulated and / or hand-held, in particular with a predetermined contact force and / or by manually guiding or actuating the robot-fixed reference on and / or departing.

As a result, in one embodiment, the adjustment can be further improved, in particular an expense for the adjustment (further) reduced and / or its speed and / or precision (further) increased and thus in a development, a control and / or monitoring of the adjusted robot (further) be improved.

In one embodiment, the predetermined path of constant orientation of the robot-fixed reference, in particular in a Cartesian working space of the robot or relating to a member, in particular a base, of the robot against which the robot-fixed reference is movable by adjusting the axes of the robot to be adjusted, traversed, for example by actuation of corresponding axes of a delta robot or the like , As a result, in one embodiment, a (tool) flange of the robot to which the reference may be attached, this or a congruent and / or offset parallel path from, so that advantageously a position of the robot-fixed reference relative to the flange can be disregarded , In one embodiment, the predetermined path with varying orientation of the robot-fixed reference, in particular in a Cartesian working space of the robot or a limb, in particular a base, of the robot against which the robot-fixed reference by moving the axes to be adjusted of the robot is movable, traversed, in particular a stationary TCP only reoriented, whereby a particularly compact track can be realized.

In one embodiment, the web is or is predetermined by a guide, in particular a positive guide, for the robot-fixed reference, in particular form-fit or contact-fit and / or non-positive, in particular magnetic, which in a further development comprise metal, in particular thereof. Additionally or alternatively, the guide is in a development temporarily or stationary stationary to a member, in particular a base of the robot arranged against which the robot-fixed reference is movable by adjusting the axes to be adjusted of the robot or is moved, in particular non-destructive detachably or permanently or non-destructively detachable relative to the member, in particular at this or spaced therefrom, fixed or fixed.

By one, in particular positive and / or non-positive, in particular contact and / or magnetic, and / or at least partially metallic, (forced) guidance, in one embodiment, the adjustment further improved in particular their speed and / or precision (further) can be increased , By a stationary attachment, the precision (further) can be increased in one embodiment, reduced by a temporary attachment a restriction of the working space of the robot after the adjustment, in particular be avoided. Accordingly, in one embodiment, the guide is removed again after adjustment.

In one embodiment, the guide locks, in particular positive and / or non-positive, in particular by contact or contact and / or magnetic, at least one and / or at most two translational or spatial degrees of freedom and / or no rotational or orientation degree of freedom of the robot-fixed reference one or two-sided or only defines their Cartesian location with a (path parameter) degree of freedom λ. In this way, in one embodiment, the trajectory of the web and / or the solution of the (over) certain equation system or optimization problem can be improved. Likewise, in one embodiment, the guide may include three translational or location degrees of freedom, respectively, or one or two sides, so that the TCP is or may only be reoriented at the stationary position.

Additionally or alternatively, in one embodiment, the web may comprise, in particular, a straight line in the working space of the robot. In this way, in one embodiment, the trajectory of the trajectory and / or the solution of the (over) certain equation system or optimization problem (further) can be improved.

Additionally or alternatively, the web is or is in one embodiment by a profile, in particular a, in particular rectangular, angle profile or two against each other, in particular at right angles, beveled surfaces, in particular form or contact, predetermined. As a result, in one embodiment, the departure of the web can be improved.

In one embodiment, the robot for adjusting, in particular for an initial or pre-adjustment and / or for traversing the predetermined path, in one embodiment by hand method, (in each case) into one, in particular the same or different, predetermined starting position (s) ( before), which in a development, in particular for the initial or pre-adjustment, can be predetermined by a, in particular multi-part, robot-fixed marking, for example mutually associated marks on mutually movable robot members. As a result, in one embodiment, the adjustment, in particular its convergence and thus its speed and / or precision can be improved. In one embodiment, the detection means on the basis of this predetermined Ausgangsspose, in particular coarse, initial or pre-adjusted.

In one embodiment, the guide is arranged or fixed only after approaching the predetermined output pose, which in particular can improve the approach of Ausgangsspose and so the speed and / or precision of the adjustment.

In one embodiment, the robot-fixed reference is stationary or permanent or non-destructive releasably or (only) temporarily or non-destructively releasably attached to a, preferably end or distal, member of the robot. Additionally or alternatively, the robot-fixed reference may comprise metal, in particular consist thereof, and / or have a completely or partially spherical outer contour, in particular for contact with the (positive) guide.

By attachment to a distal robot member, in particular tool flange, in one embodiment, all axes of the robot can be adjusted, which move this member. By a stationary attachment, the precision (further) can be increased in one embodiment, reduced by a temporary attachment restriction of the robot after the adjustment, in particular be avoided. Accordingly, in one embodiment, the reference is removed again after adjustment. By an at least partially metallic and / or spherical reference can in one embodiment, the adjustment further improved in particular their speed and / or precision (further) can be increased. In particular, an at least partially spherical (outer) contour of the reference can compensate orientation changes around its center, so that in one embodiment it can determine the position of the reference.

In one embodiment, at least two, in particular base-next and / or rotational and / or translational, preferably all, axes of the robot, in particular together or together, in particular synchronously adjusted. As a result, in one embodiment, the adjustment can be further improved, in particular its speed and / or precision (further) can be increased. Similarly, in another embodiment, only certain axes of the robot and / or axes of the robot can be adjusted sequentially.

In one embodiment, the, in particular multi-part, detection means detects the axial or joint positions of one or more, preferably all, axes or joints of the robot, in particular incrementally or absolutely, or is set up for this purpose. In one embodiment, the detection means may comprise one or more relative, in particular incremental encoders, in particular for detecting relative positions, in particular relative position changes, of one or more axes of the robot to be adjusted, in particular consisting thereof. For adjusting such detection means, the present invention may be used to particular advantage without being limited thereto. Accordingly, the detection means may also comprise, for example, resolvers or the like.

bzw. ein überbestimmtes Gleichungssystem, sobald $$\text{n}>\left(\text{D}+\text{k}-1\right)/\left(\text{d}-1\right)$$

beispielsweise bei einem sechsachsigen Roboter (k = 6), einer Geraden im Arbeitsraum (D = 5) und kartesischen Orten (d = 3) n = bzw. > 5. Dabei sind vorteilhaft nur noch (n - 1) Bahnparameterwerte λ_{i=2, 3, ...n} unbekannt, wenn man die Parameter p für eine Gelenkstellung λ₁ verwendet, beispielsweise eine der ermittelten Positionen als Geradenpunkt.According to equation (3) provides each determined joint position q _i d equations, where d denotes the dimension of a position given by the orbit, in cartesian locations, for example, three equations (d = 3). N denotes the number of joint positions determined, D the dimension or number of parameters p for (geometrically) defining the predetermined path, and k the number of axes (or joints) of the robot to be adjusted or the dimension of a determined joint position and thus of the to determined offsets Q, then for the (D + k + n - 1) unknown p, Q and λ _{i = 2, 3, ... n} the (d · n) equations yields a given equation system, if $$\text{n}=\left(\text{D}+\text{k}-1\right)/\left(\text{d}-1\right)$$

or an over-determined system of equations as soon as $$\text{n}>\left(\text{D}+\text{k}-1\right)/\left(\text{d}-1\right)$$

for example, in the case of a six-axis robot (k = 6), a straight line in the working space (D = 5) and Cartesian locations (d = 3) n = or> 5. Advantageously, only (n-1) path parameter values λ _{i = 2 , 3, ... n} unknown if the parameters p for a joint position λ ₁ used, for example, one of the determined positions as a straight line point.

Accordingly, in one embodiment, the number n of determined joint positions is equal to or, preferably, greater than (D + k-1) / (d-1) with the minimum parameter number D for geometrically defining the predetermined path, the number k of joints to be adjusted of the robot and the dimension d of a position of the robot-fixed reference predetermined by the path, preferably at least twice as large (n ≥ 2 * (D + k-1) / (d-1)), preferably at least three times as large (n≥3 · (D + k-1) / (d-1)). Additionally or alternatively, in one embodiment, number n of the determined joint positions is at least 10, in particular at least 15, in particular at least 30. In one embodiment, the adjustment, in particular its convergence and thus its speed and / or precision, can be (further) improved.

In one embodiment, a starting value of the optimization method is determined on the basis of the predefined starting position. In this way, in one embodiment, the adjustment, in particular its convergence and thus its speed and / or precision, can be improved (further).

If the robot is adjusted, in particular determines the offset of the detection means in a manner described here, in one embodiment by means of the detection means based or taking into account the determined offset desired or actual joint positions of the robot and / or target or actual positions or another robot-fixed reference, in particular according to equations (1), (1 ').

• Mittel zum Ermitteln einer bzw. der Mehrzahl von Gelenkstellungen beim Abfahren einer bzw. der vorgegebenen Bahn mit einer bzw. der roboterfesten Referenz mittels eines bzw. des Erfassungsmittels; und
• Mittel zum Ermitteln eines bzw. des Offsets des Erfassungsmittels auf Basis der ermittelten Gelenkstellungen.

According to one embodiment of the present invention, a (robot) controller, in particular hardware and / or software, in particular program technology, is set up to carry out a method described here and / or has the following:

• Means for determining one or the plurality of joint positions when driving one or the predetermined path with one or the robot-fixed reference by means of one or the detection means; and
• Means for determining an offset or the offset of the detection means on the basis of the determined joint positions.

In one embodiment, the controller or its agent has force-controlled and / or hand-guided means for starting and / or stopping the predetermined path and / or with constant or varying orientation of the robot-fixed reference.

In one embodiment, the robot arrangement has a guide or guide for the robot-fixed reference, by which the path is or is predetermined or which is set up or used for this purpose.

• Mittel zum (Vor)Positionieren des Roboters zum Justieren, insbesondere für eine initiale bzw. Vor-Justage und/oder zum Abfahren der vorgegebenen Bahn, in eine, insbesondere durch eine roboterfeste Markierung, vorgegebene Ausgangspose; und/oder
• Mittel zum Justieren von wenigstens zwei, insbesondere basisnächsten und/oder rotatorischen und/oder translatorischen, Achsen des Roboters, insbesondere zusammen; und/oder
• Mittel zum Optimieren eines Gütekriterium, das vorzugsweise von Abweichungen zwischen Positionen der roboterfesten Referenz, die auf Basis der ermittelten Gelenkstellungen ermittelt werden, und Positionen auf der vorgegebenen Bahn abhängt, mittels eines Optimierungsverfahrens zum Ermitteln des Offsets; und/oder Mittel zum Ermitteln des Offsets des Erfassungsmittels nach einem hier beschriebenen Verfahren; und Mittel zum Ermitteln wenigstens einer Soll- oder Ist-Gelenkstellung und/oder -Position einer roboterfesten Referenz auf Basis des ermittelten Offsets.

In one embodiment, the controller or its agent has:

• Means for (pre) positioning the robot for adjusting, in particular for an initial or pre-adjustment and / or for traversing the predetermined path, in a, in particular by a robot-fixed marking, predetermined output poses; and or
• Means for adjusting at least two, in particular base-next and / or rotational and / or translatory, axes of the robot, in particular together; and or
• Means for optimizing a quality criterion, which preferably depends on deviations between positions of the robot-fixed reference, which are determined on the basis of the determined joint positions, and positions on the predetermined path, by means of an optimization method for determining the offset; and / or means for determining the offset of the detection means according to a method described herein; and means for determining at least one desired or actual joint position and / or position of a robot-fixed reference based on the determined offset.

A means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules. The CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or to output signals to a data bus. A storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media. The program may be arranged to be capable of embodying the methods described herein so that the CPU may perform the steps of such methods and, in particular, adjust the robot or its detection means and / or control and / or monitor the robot ,

In one embodiment, one or more, in particular all, steps of the method are completely or partially automated, in particular by the controller or its (e) means.

• 1: eine Roboteranordnung mit einem Roboter, einer Führung und einer Steuerung nach einer Ausführung der vorliegenden Erfindung; und
• 2: ein Verfahren zum Justieren des Roboters nach einer Ausführung der vorliegenden Erfindung.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized ,:

• 1 a robot assembly comprising a robot, a guide and a controller according to an embodiment of the present invention; and
• 2 A method of adjusting the robot according to an embodiment of the present invention.

1 shows a robot assembly with a six-axis robot 1 , a guide in the form of a rectangular metal profile 5 and a controller 3 according to an embodiment of the present invention, the method described below for adjusting the robot 1 according to an embodiment of the present invention performs.

In a first step S10 becomes the robot 1 positioned relatively roughly in an initial pose q _i = [q _1,1 , q _2,1 , q _3,1 , q _4,1 , q _5,1 , q _6,1 ] ^T by hand method, which are aligned by aligned marking elements resp Characteristics of a robot-fixed marking on mutually movable members of the robot 1 is given, of which in 1 exemplarily two mutually associated marking elements 6 are indicated.

Based on this default output pose q ₁ adjusts the control 3 a detection means with relative encoders 2 To determine the joint positions, first roughly, they can zero them, for example, or occupy with given for the initial pose predetermined non-zero initial values.

In one step S20 becomes a metal ball 4 on a distal tool flange 11 of the robot 1 and the metal profile 5 surrounding or relative to the proximal base 12 of the robot 1 firmly fixed.

In the starting pose q ₁ is the metal ball 4 or their center, which is activated as TCP, positioned in the Cartesian position P ₁ = [P _{1, x} , P _{1, y} , P _{1, z} ] ^T , which in 1 indicated by dashed lines. [AS1]

Subsequently, in one step S30 at this compliant controlled robot 1 at the tool flange 11 attached metal ball 4 on the metal profile 5 guided along so that their center point or the TCP of the robot through the metal profile 5 positively specified straight line G in the working space of the robot leaves.

Here, in certain, in particular equidistant, time intervals, n joint positions q _i = [q _{1, i} , q _{2, i} , q _{3, i} , q _{4, i} , q _{5, i} , q _{6, i} ] ^{T are} determined those in 1 an example is shown.

In one step S40 determines the control 3 by means of the by the mark 5 predetermined output poses coarsely adjusted detection means with the relative encoders 2 according to equation (1) estimates for the positions P ₁ , ..., P _n ,

Then it solves the optimization problem according to equation (5).

It uses the iterative optimization start values for the parameters p = [ P _x . P _y . P _z, α, β] ^T for determining the predetermined path G as point [ P _x . P _y . P _z ] ^T to determine the train G the estimate for the position P ₁ and for the direction v (α, β) to define the path G the difference vector of two estimated values, for example v (α, β) = P _n -P ₁ , as well as for the path parameter values λ _i the distances between estimated positions λ ₁ = 0 and λ _i = | P _i -P _i-1 | for 2 ≤ i ≤ n and for the offset Q zero or the initial assignment of the detection means with the relative encoders 2 ,

It then stores the thus determined offset Q from. This is the detection means with the relative encoders 2 adjusted and the robot 1 can in one step S60 by means of the detection means with the relative encoders 2 controlled and / or monitored on the basis of or in consideration of this offset joint positions, after in step S50 metal ball 4 and metal profile 5 was removed.

Should the adjustment or the relationship between mechanical relative position of the joints or members of the robot and by the detection means with the relative encoders 2 lost values, the robot can 1 or its detection means with the relative encoders 2 easy, quick and precise adjustment in situ, using the procedure described above S10 - S50 is carried out again.

Will the orientation of the metal ball 4 in the cartesian workspace of the robot 1 when driving off the train G not changed, instead of the (estimates for) positions P ₁ , ..., P _n the center of the globe 4 also (estimates for the) positions of the tool flange 11 itself or the TCP are placed in this, so that the position of the ball relative to the tool flange can be disregarded. This can be done, for example, when adjusting the proximal axes 1 - 3 be used advantageously a delta robot.

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible.

In particular, those in step S10 using the markers 6 used pose for pre-adjustment and the pose out of which the straight line G is traversed to be different poses. In particular, it is possible to use the metal ball 4 only after the coarse or pre-adjustment of the step S10 , in particular by hand method, to the metal profile 5 lead in and then start to descend.

LIST OF REFERENCE NUMBERS

1

robot

2

Relative rotary encoder (detection means)

3

(Robot) control

4

Metal ball (robot-proof reference)

5

guide

6

mark

11

tool flange

12

Base

G

given course

_{qj, i}

joint position

Claims (15)

A method of adjusting a robot (1), comprising the steps of: - determining (S30) a plurality of joint positions (q _{1, i} , q _{2, i} , q _{3, i} , q _{4, i} , q _{5, i} , q _{6 , i} ) when driving a predetermined path (g) with a robot-fixed reference (4) by means of a detection means (2); and - determining (S40) an offset of the detection means based on the determined joint positions. Method according to Claim 1 , characterized in that the predetermined path (g) controlled by force and / or hand-held and / or with constant or varying orientation of the robot-fixed reference (4) on and / or driven off. Method according to one of the preceding claims, characterized in that the web (g) is predetermined by a guide (5) for the robot-fixed reference (4). Method according to the preceding claim, characterized in that the guide (5) has metal and / or temporary or stationary is arranged stationary to a member (12) of the robot, relative to which the robot-fixed reference (4) by adjusting the axes of the robot to be adjusted (1) is movable. Method according to one of the preceding claims, characterized in that the web has a straight line (g) in the working space of the robot and / or is predetermined by a profile (5). Method according to one of the preceding claims, characterized in that the robot for adjusting, in particular traversing the predetermined path, in a, in particular by a robot-proof mark (6), predetermined output poses is positioned. Method according to one of the preceding claims, characterized in that the robot-fixed reference (4) is temporarily or stationarily attached to a member (11) of the robot and / or metal and / or has an at least partially spherical outer contour. Method according to one of the preceding claims, characterized in that at least two, in particular base-next and / or rotational and / or translational, axes of the robot, in particular together, are adjusted. Method according to one of the preceding claims, characterized in that the detection means has at least one relative value transmitter (2) for detecting relative positions of an axis of the robot to be adjusted. Method according to one of the preceding claims, characterized in that the number of joint positions determined equal to or greater than (D + k-1) / (d-1) with the minimum number of parameters D for geometrically defining the predetermined path (g), the number k is the joints of the robot to be adjusted and the dimension d of a position (P _i ) of the robot-fixed reference (4) predetermined by the path, and / or is at least 10. Method according to one of the preceding claims, characterized in that for determining the offset by means of an optimization method a quality criterion is optimized (S40), preferably by deviations between positions (P _i ) of the robot-fixed reference (4), which on the basis of the determined joint positions ( q _{1, i} , q _{2, i} , q _{3, i} , q _{4, i} , q _{5, i} , q _{6, i} ) are determined, and positions on the given path (g) depends. Method for controlling and / or monitoring a robot (1), comprising the steps: - Detecting the offset (S40) of the detection means (2) according to a method according to one of the preceding claims; and Determining (S60) at least one desired or actual joint position and / or position of a robot-fixed reference on the basis of the determined offset. Control (3) for adjusting, in particular for controlling and / or monitoring, a robot (1) which is set up for carrying out a method according to one of the preceding claims and / or comprising: means for determining a plurality of joint positions (q _{1, i} , q.sub.2 _{, i} , q.sub.3 _{, i} , q.sub.4 _{, i} , q.sub.5 _{, i} , q.sub.6 _{, i} ) when a predetermined path (g) is traveled with a robot-fixed reference (4) by means of a detection means (2); and means for determining an offset of the detection means based on the determined joint positions. Robot arrangement with a robot (1) and a controller (3) for adjusting, in particular for controlling and / or monitoring, the robot according to one of the preceding claims. A computer program product having a program code stored on a computer-readable medium for performing a method according to any one of the preceding claims.

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