Control of a robot system

Abstract

The invention relates to a method for controlling a robot system as well as a robot system. The robot system includes the following components: a robot ROBO with elements driven by actuators; first sensors S1i for sensing a current robot state; a central control unit ZSE, which executes a current control program SP(t) for controlling the robot system; one or more user interfaces NS.sub.p; one or more processor units PE.sub.r (205), which execute services MPSr for the central control unit ZSE and/or for one or more of the other components of the robot system; wherein the robot ROBO, the first sensors S1.sub.i, the central control unit ZSE, the user interfaces NS.sub.p, and the processor units PE.sub.r communicate with one another over a data network DN. The central control unit ZSE is configured and executed to predictively test whether an execution of the current control program SP(t) will lead to an error state. If such an error state is predicted during the test, execution of one or more actions takes place.

Claims

1. A method of controlling a robot system, wherein the robot system comprises the following components: a robot ROBO with elements configured to be driven by actuators, first sensors S1.sub.i configured to sense a current robot state Z.sub.robo(t), where i=1, . . . , I, a central control unit ZSE configured to execute a current control program SP(t) for controlling the robot system, one or more user interfaces NS.sub.p, where p=1, . . . , P, and one or more processor units PE.sub.r configured to execute services MPS.sub.r for the central control unit ZSE and/or for one or more of the other components of the robot system, where r=1, . . . , R, wherein the robot ROBO, the first sensors S1.sub.i, the central control unit ZSE, the user interfaces NS.sub.p, and the processor units PE.sub.r are configured to communicate with one another over a data network DN, wherein the central control unit ZSE and the user interfaces NS.sub.p are configured to modify the current control program SP(t), during execution thereof at a time t.sub.1, to a modified control program SP(t)=SP*(t for t>t.sub.1), wherein the robot ROBO is enabled to accept robot states Z.sub.robo, wherein the following applies: Z.sub.roboϵZ.sub.robo,total and Z.sub.robo,total defines a state space, the state space Z.sub.robo,total indicating quantities of all possible robot states, and wherein a state space Z.sub.robo,permitted is further specified, the state space Z.sub.robo,permitted defining quantities of all permitted robot states Z.sub.robo,permitted, wherein the following applies: Z.sub.robo,permittedϵZ.sub.robo,permittedl and Z.sub.robo,permitted.Math.Z.sub.robo,total, wherein the first sensors S1.sub.i are enabled to accept sensor states Z.sub.S1,i, wherein the following applies: Z.sub.S1,iϵZ.sub.S1,i,total and Z.sub.S1,i,total defines a state space, the state space Z.sub.S1,i,total indicating quantities of all possible sensor states, and wherein a state space Z.sub.S1,i,permitted is further specified, the space state Z.sub.S1,i,permitted defining quantities of all permitted sensor states Z.sub.S1,i,permitted, wherein the following applies: Z.sub.S1,i,permittedϵZ.sub.S1,i,permitted and Z.sub.S1,i,permitted.Math.Z.sub.S1,i,total, wherein the central control unit ZSE is enabled to accept control unit states Z.sub.ZSE, wherein the following applies: Z.sub.ZSEϵZ.sub.ZSE,total and Z.sub.ZSE,total defines a state space, the state space Z.sub.ZSE,total indicating quantities of all possible control unit states, and wherein a state space Z.sub.ZSE,permitted is further specified, the state space Z.sub.ZSE,permitted defining quantities of all permitted control unit states Z.sub.ZSE,permitted, wherein the following applies: Z.sub.ZSE,permittedϵZ.sub.ZSE,permitted and Z.sub.ZSE,permittedϵZ.sub.ZSE,total, wherein the user interfaces NS.sub.p are enabled to accept user interface states Z.sub.NS,p, wherein the following applies: Z.sub.NS,pϵZ.sub.NS,p,total and Z.sub.NS,p,total defines a state space, the state space Z.sub.NS,p,total indicating quantities of all possible user interface states, and wherein a state space Z.sub.NS,p,permitted is further specified, the state space Z.sub.NS,p,permitted defining quantities of all permitted user interface states Z.sub.NS,p,permitted, wherein the following applies: Z.sub.NS,p,permittedϵZ.sub.NS,p,permitted and Z.sub.NS,p,permitted.Math.Z.sub.NS,p,total, wherein the processor units PE.sub.r are enabled to accept processor states Z.sub.PE,r, wherein the following applies: Z.sub.PE,rϵZ.sub.PE,r,total and Z.sub.PE,r,total defines a state space, the state space Z.sub.PE,r,total indicating quantities of all possible processor states, and wherein a state space Z.sub.PE,r,permitted is further specified, the state space Z.sub.PE,r,permitted defining quantities of all permitted processor states Z.sub.PR,r,permitted, wherein the following applies: Z.sub.PE,r,permittedϵZ.sub.PE,r,permitted and Z.sub.PE,r,permitted.Math.Z.sub.PE,r,total, wherein the services MPS.sub.r are enabled to accept service states Z.sub.MPS,r, wherein the following applies: Z.sub.MPS,rϵZ.sub.MPS,r,total and Z.sub.MPS,r,total defines a state space, the state space Z.sub.MPS,r,total indicating quantities of all possible service states, and wherein a state space Z.sub.MPS,r,permitted is further specified, the state space Z.sub.MPS,r,permitted defining quantities of all permitted service states Z.sub.MPS,r,permitted, wherein the following applies: Z.sub.MPS,r,permittedϵZ.sub.MPS,r,permitted and Z.sub.MPS,r,permitted.Math.Z.sub.MPS,r,total, wherein the data network DN is enabled to accept data network states Z.sub.data, wherein the following applies: Z.sub.dataϵZ.sub.data,total and Z.sub.data,total defines a state space, the state space Z.sub.data,total indicating quantities of all possible data network states, and wherein a state space Z.sub.data,permitted further specified, the state space Z.sub.data,permitted defining quantities of all permitted data network states Z.sub.data,permitted, wherein the following applies: Z.sub.data,permittedϵZ.sub.data,permitted and Z.sub.data,permitted.Math.Z.sub.data,total, wherein the method comprises: predictively testing, during execution of the current control program SP(t) at a time t, as to whether an execution of the current control program SP(t) yet to be executed at a time t>t.sub.1 will lead to an error state, wherein the error state is defined such that the execution of the current control program SP(t) leads to a: processor state Z.sub.PE,r, to which the following applies: Z.sub.PR,r.Math.Z.sub.PR,r,permitted, and/or data network state Z.sub.data(t), to which the following applies: Z.sub.data.Math.Z.sub.data,permitted; and if such an error state is predicted during the predictively testing, executing the following listed actions: automatically modifying the current control program at a time t.sub.1 to the modified control program SP(t)=SP*(t for t>t.sub.1) such that no error state is determined with a new predictive test, and executing the modified control program SP(t).

2. The method according to claim 1, wherein the state spaces Z.sub.robo,permitted, Z.sub.S1,i,permitted, Z.sub.ZSE,permitted, Z.sub.PR,r,permitted, Z.sub.MPS,r,permitted, Z.sub.NS,p,permitted, Z.sub.data,permitted are defined as a function of a task/action intended to be executed by the robot ROBO using the control program SP(t).

3. The method according to claim 1, wherein the control program SP(t) recognizes its own structure and is enabled to modify it.

4. The method according to claim 1, wherein the data network state Z.sub.data considers one or more of the following parameters: a physical availability of the components: robot ROBO, first sensors S1.sub.i, central control unit ZSE, user interfaces NS.sub.p, and processor units PE.sub.r in the data network DN, a current communication state of the components, data and signal runtimes between the components, and chronological and causal limitations of a data exchange between the components.

5. The method according to claim 1, wherein the robot state Z.sub.robo considers one or more of the following parameters: a current physical configuration of the robot ROBO, a dynamic state of the robot ROBO, an electric state of the robot ROBO, and an interaction or interactions of the robot ROBO with an environment.

6. The method according to claim 1, wherein a processor state Z.sub.PE,r considers one or more of the following parameters: service or algorithm currently being executed on a processor unit PE.sub.r, current performance of the service or algorithm being executed on the processor unit PE.sub.r, available processor capacity of the processor unit PE.sub.r, current load of the processor unit PE.sub.r, available working memory of the processor unit PE.sub.r, state of the control bus of the respective processor unit PE.sub.r, architecture of the processor unit PE.sub.r, command set of the processor unit PE.sub.r, and cycling of the processor unit PE.sub.r.

7. The method according to claim 1, wherein the service state Z.sub.MPS,r considers one or more of the following parameters: a current physical configuration of the robot ROBO, a dynamic state of the robot ROBO, an electric state of the robot ROBO, and an interaction or interactions of the robot ROBO with an environment.

8. The method according to claim 1, wherein the error state is additionally defined such that the execution of the current control program SP(t) leads to a: robot state Z.sub.robo, to which the following applies: Z.sub.robo.Math.Z.sub.robo,permitted, and/or sensor state Z.sub.S1,i, to which the following applies: Z.sub.S1,i.Math.Z.sub.S1,i,permitted, and/or control unit state Z.sub.ZSE, to which the following applies: Z.sub.ZSE.Math.Z.sub.ZSE,permitted, and/or service state Z.sub.MPS,r, to which the following applies: Z.sub.MPS,r.Math.Z.sub.MPS,r,permitted, and/or user interface state Z.sub.NS,p, to which the following applies: Z.sub.NS,p.Math.Z.sub.NS,p,permitted.

9. A robot system comprising the following components: a robot ROBO with elements configured to be driven by actuators, first sensors S1.sub.i, configured to sense a current robot state Z.sub.robo(t), where i=1, . . . , I, a central control unit ZSE configured to execute a current control program SP(t) for controlling the robot system, one or more user interfaces NS.sub.p, where p=1, . . . , P, one or more processor units PE.sub.r configured to execute services MPSr for the central control unit ZSE and/or for one or more of the other components of the robot system, where r=1, . . . , R, wherein the robot ROBO, the first sensors S1.sub.i, the control unit ZSE, the user interfaces NS.sub.p, and the processor units PE.sub.r are configured to communicate with one another over a data network DN, wherein the central control unit ZSE and the user interfaces NS.sub.p are configured to modify the current control program SP(t), during the execution thereof at a time t.sub.1, to a modified control program SP(t)=SP*(t for t>t.sub.1), wherein the robot ROBO is enabled to accept robot states Z.sub.robo, wherein the following applies: Z.sub.roboϵZ.sub.robo,total and Z.sub.robo,total defines a state space, the state space Z.sub.robo,total indicating quantities of all possible robot states, and wherein a state space Z.sub.robo,permitted is further specified, the state space Z.sub.robo,permitted defining quantities of all permitted robot states Z.sub.robo,permitted, wherein the following applies: Z.sub.robo,permittedϵZ.sub.robo,permittedl and Z.sub.robo,permitted.Math.Z.sub.robo,total, wherein the first sensors S1.sub.i are enabled to accept sensor states Z.sub.S1,i,wherein the following applies: Z.sub.S1,iϵZ.sub.S1,i,total and Z.sub.S1,i,total defines a state space, the state space Z.sub.S1,i,total indicating quantities of all possible sensor states, and wherein a state space Z.sub.S1,i,permitted is further specified, the state space Z.sub.S1,i,permitted defining quantities of all permitted sensor states Z.sub.S1,i,permitted, wherein the following applies: Z.sub.S1,i,permittedϵZ.sub.S1,i,permitted and Z.sub.S1,i,permitted.Math.Z.sub.S1,i,total, wherein the control unit ZSE is enabled to accept control unit states Z.sub.ZSE, wherein the following applies: Z.sub.ZSEϵZ.sub.ZSE,total total and Z.sub.ZSE,total defines a state space, the state space Z.sub.ZSE,total indicating quantities of all possible control unit states, and wherein a state space Z.sub.ZSE,permitted is further specified, the state space Z.sub.ZSE,permitted defining quantities of all permitted control unit states Z.sub.ZSE,permitted, wherein the following applies: Z.sub.ZSE,permittedϵZ.sub.ZSE,permitted and Z.sub.ZSE,permitted.Math.Z.sub.ZSE,total, wherein the user interfaces NS.sub.p are enabled to accept user interface states Z.sub.NS,p, wherein the following applies: Z.sub.NS,pϵZ.sub.NS,p,total and Z.sub.NS,p,total defines a state space, the state space Z.sub.NS,p,total indicating quantities of all possible user interface states, and wherein a state space Z.sub.NS,p,permitted is further specified, the state space Z.sub.NS,p,permitted defining quantities of all permitted user interface states Z.sub.NS,p,permitted, wherein the following applies: Z.sub.NS,p,permittedϵZ.sub.NS,p,permitted and Z.sub.NS,p,permitted.Math.Z.sub.NS,p,total, wherein the processor units PE.sub.r are enabled to accept processor states Z.sub.PE,r, wherein the following applies: Z.sub.PE,rϵZ.sub.PE,r,total and Z.sub.PE,r,total defines a state space, the state space Z.sub.PE,r,total indicating quantities of all possible processor states, and wherein a state space Z.sub.PE,r,permitted is further specified, the state space Z.sub.PE,r,permitted defining quantities of all permitted processor states Z.sub.PE,r,permitted, wherein the following applies: Z.sub.PE,r,permittedϵZ.sub.PE,r,permitted and Z.sub.PE,r,permitted.Math.Z.sub.PE,r,total, where the services MPS.sub.r are enabled to accept service states Z.sub.MPS,r, wherein the following applies: Z.sub.MPS,rϵZ.sub.MPS,r,total and Z.sub.MPS,r,total defines a state space, the state space Z.sub.MPS,r,total indicating quantities of all possible service states, and wherein a state space Z.sub.MPS,r,permitted is further specified, the state space Z.sub.MPS,r,permitted defining quantities of all permitted service states Z.sub.MPS,r,permitted, wherein the following applies: Z.sub.MPS,r,permittedϵZ.sub.MPS,r,permitted and Z.sub.MPS,r,permitted.Math.Z.sub.MPS,r,total, and wherein the data network DN is enabled to accept data network states Z.sub.data, wherein the following applies: Z.sub.dataϵZ.sub.data,total and Z.sub.data,total defines a state space, the state space Z.sub.data,total indicating quantities of all possible data network states, and wherein a state space Z.sub.data,permitted further specified, the state space Z.sub.data,permitted defining quantities of all permitted data network states Z.sub.data,permitted, wherein the following applies: Z.sub.data,permittedϵZ.sub.data,permitted and Z.sub.data,permitted.Math.Z.sub.data,total, wherein the control unit ZSE is executed and configured such that the following operations are executed: predictively testing, during execution of the current control program SP(t) at a time t, as to whether an execution of the current control program SP(t) yet to be executed at a time t>t.sub.1 will lead to an error state, wherein the error state is defined such that the execution of the current control program SP(t) leads to a: processor state Z.sub.PE,r, to which the following applies: Z.sub.PR,r.Math.Z.sub.PR,r,permitted, and/or data network state Z.sub.data(t), to which the following applies: Z.sub.data.Math.Z.sub.data,permitted; and if such an error state is predicted during the predictively testing, executing the following listed actions: automatically modifying the current control program at a time t.sub.1 to the modified control program SP(t)=SP*(t for t>t.sub.1) such that no error state is determined with a new predictive test, and executing the modified control program SP(t).

10. The robot system according to claim 9, wherein the state spaces Z.sub.robo,permitted, Z.sub.S1,i,permitted, Z.sub.ZSE,permitted, Z.sub.PR,r,permitted, Z.sub.MPS,r,permitted, Z.sub.NS,p,permitted, Z.sub.data,permitted permitted are defined as a function of a task/action intended to be executed by the robot ROBO using the control program SP(t).

11. The robot system according to claim 9, wherein the control program SP(t) recognizes its own structure and is enabled to modify it.

12. The robot system according to claim 9, wherein the data network state Z.sub.data considers one or more of the following parameters: a physical availability of the components: robot ROBO, first sensors S1.sub.i, central control unit ZSE, user interfaces NS.sub.p, and processor units PE.sub.r in the data network DN, a current communication state of the components, data and signal runtimes between the components, and chronological and causal limitations of a data exchange between the components.

13. The robot system according to claim 9, wherein the robot state Z.sub.robo considers one or more of the following parameters: a current physical configuration of the robot ROBO, a dynamic state of the robot ROBO, an electric state of the robot ROBO, and an interaction or interactions of the robot ROBO with an environment.

14. The robot system according to claim 9, wherein a processor state Z.sub.PE,r considers one or more of the following parameters: service or algorithm currently being executed on a processor unit PE.sub.r, current performance of the service or algorithm being executed on the processor unit PE.sub.r, available processor capacity of the processor unit PE.sub.r, current load of the processor unit PE.sub.r, available working memory of the processor unit PE.sub.r, state of the control bus of the respective processor unit PE.sub.r, architecture of the processor unit PE.sub.r, command set of the processor unit PE.sub.r, and cycling of the processor unit PE.sub.r.

15. The robot system according to claim 9, wherein the service state Z.sub.MPS,r considers one or more of the following parameters: a current physical configuration of the robot ROBO, a dynamic state of the robot ROBO, an electric state of the robot ROBO, and an interaction or interactions of the robot ROBO with an environment.

16. The robot system according to claim 9, wherein the error state is additionally defined such that the execution of the current control program SP(t) leads to a: robot state Z.sub.robo, to which the following applies: Z.sub.robo.Math.Z.sub.robo,permitted, and/or sensor state to which the following applies: Z.sub.S1,i.Math.Z.sub.S1,i,permitted, and/or control unit state Z.sub.ZSE, to which the following applies: Z.sub.ZSE.Math.Z.sub.ZSE,permitted, and/or service state Z.sub.MPS,r, to which the following applies: Z.sub.MPS,r.Math.Z.sub.MPS,r,permitted, and/or user interface state Z.sub.NS,p, to which the following applies: Z.sub.NS,p.Math.Z.sub.NS,p,permitted.

17. A method of controlling a robot system, wherein the robot system comprises the following components: a robot ROBO with elements configured to be driven by actuators, first sensors S1.sub.i, configured to sense a current robot state Z.sub.robo(t), where i=1, . . . , I, a central control unit ZSE configured to execute a current control program SP(t) for controlling the robot system, one or more user interfaces NS.sub.p, where p=1, . . . , P, one or more processor units PE.sub.r configured to execute services MPS.sub.r for the central control unit ZSE and/or for one or more of the other components of the robot system, where r=1, . . . , R, wherein the robot ROBO, the first sensors S1.sub.i the control unit ZSE, the user interfaces NS.sub.p, and the processor units PE.sub.r are configured to communicate with one another over a data network DN, wherein the central control unit ZSE and the user interfaces NS.sub.p are configured to modify the current control program SP(t), during the execution thereof at a time t.sub.1, to a modified control program SP(t)=SP*(t for t>t.sub.1), wherein the processor units PE.sub.r are enabled to accept processor states Z.sub.PE,r, wherein the following applies: Z.sub.PE,rϵZ.sub.PE,r,total and Z.sub.PE,r,total defines a state space, the state space Z.sub.PE,r,total indicating quantities of all possible processor states, and wherein a state space Z.sub.PE,r,permitted is further specified, the state space Z.sub.PE,r,permitted defining quantities of all permitted processor states Z.sub.PE,r,permitted, wherein the following applies: Z.sub.PE,r,permittedϵZ.sub.PE,r,permitted and Z.sub.PE,r,permitted.Math.Z.sub.PE,r,total, wherein the data network DN is enabled to accept data network states Z.sub.data, wherein the following applies: Z.sub.dataϵZ.sub.data,total and Z.sub.data,total defines a state space, the state space Z.sub.data,total indicating quantities of all possible data network states, and wherein a state space Z.sub.data,permitted further specified, the state space Z.sub.data,permitted defining quantities of all permitted data network states Z.sub.data,permitted, wherein the following applies: Z.sub.data,permittedϵZ.sub.data,permitted and Z.sub.data,permitted.Math.Z.sub.data,total, wherein the method comprises: predictively testing, during execution of the current control program SP(t) at a time t, as to whether an execution of the current control program SP(t) yet to be executed at a time t>t.sub.1 will lead to an error state, wherein the error state is defined such that the execution of the current control program SP(t) leads to a: processor state Z.sub.PE,r, to which the following applies: Z.sub.PR,r.Math.Z.sub.PR,r,permitted, and/or data network state Z.sub.data(t), to which the following applies: Z.sub.data.Math.Z.sub.data,permitted; and if such an error state is predicted during the predictively testing, executing the following listed actions: automatically modifying the current control program at a time t.sub.1 to the modified control program SP(t)=SP*(t for t>t.sub.1) such that no error state is determined with a new predictive test, and executing the modified control program SP(t).

18. The method according to claim 17, wherein the state spaces Z.sub.PR,r,permitted and Z.sub.data,permitted are defined as a function of a task/action intended to be executed by the robot ROBO using the control program SP(t).

19. The method according to claim 17, wherein the control program SP(t) recognizes its own structure and is enabled to modify it.

20. The method according to claim 17, wherein the data network state Z.sub.data considers one or more of the following parameters: a physical availability of the components: robot ROBO, first sensors S1.sub.i, central control unit ZSE, user interfaces NS.sub.p, and processor units PE.sub.r in the data network DN, a current communication state of the components, data and signal runtimes between the components, and chronological and causal limitations of a data exchange between the components.

21. The method according to claim 17, wherein a processor state Z.sub.PE,r considers one or more of the following parameters: service or algorithm currently being executed on a processor unit PE.sub.r, current performance of the service or algorithm being executed on the processor unit PE.sub.r, available processor capacity of the processor unit PE.sub.r, current load of the processor unit PE.sub.r, available working memory of the processor unit PE.sub.r, state of the control bus of the respective processor unit PE.sub.r, architecture of the processor unit PE.sub.r, command set of the processor unit PE.sub.r, and cycling of the processor unit PE.sub.r.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) In the drawings:

(2) FIG. 1 shows a flowchart of the proposed method; and

(3) FIG. 2 shows a diagram representation of a proposed robot system.

DETAILED DESCRIPTION

(4) FIG. 1 shows a flowchart of a proposed method for controlling a robot system, wherein the robot system includes the following components: a robot ROBO 201 with elements driven by actuators; first sensors S1.sub.i 202 for sensing a current robot state Z.sub.robo(t), where i=1, . . . , I; a control unit ZSE 203, which executes a current control program SP(t) for controlling the robot system; one or more user interfaces NS.sub.p 204, where p=1, . . . , P; one or more processor units PE.sub.r, which execute services MPS.sub.r for the central control unit ZSE and/or for one or more of the other components of the robot system, where r=1, . . . , R; wherein the robot, the first sensors S1.sub.i 202, the central control unit ZSE 203, the user interfaces NS.sub.p 204, and the processor units PE.sub.r 205 communicate with each other over a data network DN 206; and wherein the central control unit ZSE 203 and the user interfaces NS.sub.p 204 are configured for modifying the current control program SP(t), during the execution thereof at a time t.sub.1, into a modified control program SP(t)=SP*(t for t>t.sub.1).

(5) The robot ROBO 201 can accept robot states Z.sub.robo, wherein the following applies: Z.sub.roboϵZ.sub.robo,total and Z.sub.robo,total defines a state space, which indicates the quantities of all possible robot states, and wherein a state space Z.sub.robo,permitted is further specified, which defines the quantity of all permitted robot states Z.sub.robo,permitted, wherein the following applies: Z.sub.robo,permittedϵZ.sub.robo,permittedl and Z.sub.robo,permitted.Math.Z.sub.robo,total.

(6) The first sensors S1.sub.i can accept sensor states Z.sub.S1,i 202, wherein the following applies: Z.sub.S1,iϵZ.sub.S1,i,total and Z.sub.S1,i,total defines a state space, which indicates the quantities of all possible sensor states, and wherein a state space Z.sub.S1,i,permitted is further specified, which defines the quantity of all permitted sensor states Z.sub.S1,i,permitted, wherein the following applies: Z.sub.S1,i,permittedϵZ.sub.S1,i,permittedl and Z.sub.S1,i,permitted.Math.Z.sub.S1,i,total.

(7) The control unit ZSE 203 can accept control unit states Z.sub.ZSE, wherein the following applies: Z.sub.ZSEϵZ.sub.ZSE,total and Z.sub.ZSE,total defines a state space, which indicates the quantities of all possible control unit states, and wherein a state space Z.sub.ZSE,permitted is further specified, which defines the quantity of all permitted control unit states Z.sub.ZSE,permitted, wherein the following applies: Z.sub.ZSE,permittedϵZ.sub.ZSE,permittedl and Z.sub.ZSE,permittedϵZ.sub.ZSE,total.

(8) The user interfaces NS.sub.p 204 can accept user interface states Z.sub.NS, wherein the following applies: Z.sub.NS,pϵZ.sub.NS,p,total and Z.sub.NS,p,total defines a state space, which indicates the quantities of all possible user interface states, and wherein a state space Z.sub.NS,p,permitted is further specified, which defines the quantity of all permitted user interface states Z.sub.NS,p,permitted, wherein the following applies: Z.sub.NS,p,permittedϵZ.sub.NS,p,permitted and Z.sub.NS,p,permitted.Math.Z.sub.NS,p,total.

(9) The processor units PE.sub.r 205 can accept processor states Z.sub.PE,r, wherein the following applies: Z.sub.PE,rϵZ.sub.PE,r,total and Z.sub.PE,r,total defines a state space, which indicates the quantities of all possible processor states, and wherein a state space Z.sub.PE,r,permitted is further specified, which defines the quantity of all permitted processor states Z.sub.PR,r,permitted, wherein the following applies: Z.sub.PE,r,permittedϵZ.sub.PE,r,permitted and Z.sub.PE,r,permitted.Math.Z.sub.PE,r,total.

(10) The services MPS.sub.r can accept service states Z.sub.MPS,r, wherein the following applies: Z.sub.MPS,rϵZ.sub.MPS,r,total and Z.sub.MPS,r,total defines a state space, which indicates the quantities of all possible service states, and wherein a state space Z.sub.MPS,r,permitted is further specified, which defines the quantity of all permitted service states Z.sub.MPS,r,permitted, wherein the following applies: Z.sub.MPS,r,permittedϵZ.sub.MPS,r,permitted and Z.sub.MPS,r,permitted.Math.Z.sub.MPS,r,total.

(11) The data network DN 206 can accept data network states Z.sub.data, wherein the following applies: Z.sub.dataϵZ.sub.data,total and Z.sub.data,total defines a state space, which indicates the quantities of all possible data network states, and wherein a state space Z.sub.data,permitted is further specified, which defines the quantity of all permitted data network states Z.sub.data,permitted, wherein the following applies: Z.sub.data,permittedϵZ.sub.data,permitted and Z.sub.data,permitted.Math.Z.sub.data,total.

(12) The proposed method includes the following steps: In a first step 101, predictive testing takes place, during or before the execution of the current control program SP(t), to determine whether an execution of the current control program SP(t) will lead to an error state, wherein the error state is defined such that the execution of the current control program SP(t) leads to a: robot state Z.sub.robo, to which the following applies: Z.sub.robo.Math.Z.sub.robo,permitted and/or sensor state Z.sub.S1,i, to which the following applies: Z.sub.S1,i.Math.Z.sub.S1,i,permitted and/or control unit state Z.sub.ZSE, to which the following applies: Z.sub.ZSE.Math.Z.sub.ZSE,permitted and/or processor state Z.sub.PE,r, to which the following applies: Z.sub.PR,r.Math.Z.sub.PR,r,permitted and/or service state Z.sub.MPS,r, to which the following applies: Z.sub.MPS,r.Math.Z.sub.MPS,r,permitted and/or user interface state Z.sub.NS,p, to which the following applies: Z.sub.NS,p.Math.Z.sub.NS,p,permitted and/or data network state Z.sub.data(t), to which the following applies: Z.sub.data.Math.Z.sub.data,permitted.

(13) If such an error state is predicted during the test 101, execution 102 of one or more of the following listed actions occurs in a second step: automatic modifying (102a) of the current control program SP(t) such that no error state is determined with a new predictive test (101), and execution of the automatically, correspondingly modified control program SP(t); generating (102b) a prompt to modify the current control program SP(t) on one or all user interfaces NS.sub.p; generating (102c) an optical or acoustic warning; stopping (102d) the execution of the current control program SP(t); and activating (102e) the robot ROBO to take on a predefined standby state.

(14) Advantageously, the method is triggered by any change in the current control program SP(t).

(15) FIG. 2 shows a diagram representation of a proposed robot system; The robot system includes the following components: a robot ROBO 201 with elements driven by actuators; first sensors S1.sub.i 202 for sensing a current robot state Z.sub.robo(t), where i=1, . . . , I; a central control unit ZSE 203, which executes a current control program SP(t) for controlling the robot system; one or more user interfaces NS.sub.p 204 where p=1, . . . , P; one or more processor units PE 205, which execute services MPS.sub.r for the central control unit ZSE 203 and/or for one or more of the other components of the robot system 201, 202, 204, 205, 206, where r=1, . . . , R.

(16) The central control unit ZSE 203 and the user interfaces NS.sub.p 204 are configured to modify the current control program SP(t), during the execution thereof at a time t.sub.1, into a modified control program SP(t)=SP*(t for t>t.sub.1).

(17) The robot 201, the first sensors S1.sub.i 202, the central control unit ZSE 203, the user interfaces NS.sub.p 204, and the processor units PE.sub.r 205 communicate with one another over a data network DN 206.

(18) The robot ROBO 201 can accept robot states Z.sub.robo, wherein the following applies: Z.sub.roboϵZ.sub.robo,total and Z.sub.robo,total defines a state space, which indicates the quantities of all possible robot states, and wherein a state space Z.sub.robo,permitted is further specified, which defines the quantity of all permitted robot states Z.sub.robo,permitted, wherein the following applies: Z.sub.robo,permittedϵZ.sub.robo,permittedl and Z.sub.robo,permitted.Math.Z.sub.robo,total.

(19) The first sensors S1.sub.i can accept sensor states Z.sub.S1,i202, wherein the following applies: Z.sub.S1,iϵZ.sub.S1,i,total and Z.sub.S1,i,total defines a state space, which indicates the quantities of all possible sensor states, and wherein a state space Z.sub.S1,i,permitted is further specified, which defines the quantity of all permitted sensor states Z.sub.S1,i,permitted, wherein the following applies: Z.sub.S1,i,permittedϵZ.sub.S1,i,permittedl and Z.sub.S1,i,permitted.Math.Z.sub.S1,i,total.

(20) The control unit ZSE 203 can accept control unit states Z.sub.ZSE, wherein the following applies: Z.sub.ZSEϵZ.sub.ZSE,total and Z.sub.ZSE,total defines a state space, which indicates the quantities of all possible control unit states, and wherein a state space Z.sub.ZSE,permitted is further specified, which defines the quantity of all permitted control unit states Z.sub.ZSE,permitted, wherein the following applies: Z.sub.ZSE,permittedϵZ.sub.ZSE,permittedl and Z.sub.ZSE,permitted.Math.Z.sub.ZSE,total.

(21) The user interfaces NS.sub.p 204 can accept user interface states Z.sub.NS,p, wherein the following applies: Z.sub.NS,pϵZ.sub.NS,p,total and Z.sub.NS,p,total defines a state space, which indicates the quantities of all possible user interface states, and wherein a state space Z.sub.NS,p,permitted is further specified, which defines the quantity of all permitted user interface states Z.sub.NS,p,permitted, wherein the following applies: Z.sub.NS,p,permittedϵZ.sub.NS,p,permitted and Z.sub.NS,p,permitted.Math.Z.sub.NS,p,total.

(22) The processor units PE.sub.r can accept processor states Z.sub.PE,r, wherein the following applies: Z.sub.PE,rϵZ.sub.PE,r,total and Z.sub.PE,r,total defines a state space, which indicates the quantities of all possible processor states, and wherein a state space Z.sub.PE,r,permitted is further specified, which defines the quantity of all permitted processor states Z.sub.PR,r,permitted, wherein the following applies: Z.sub.PE,r,permittedϵZ.sub.PE,r,permitted and Z.sub.PE,r,permitted.Math.Z.sub.PE,r,total.

(23) The services MPS.sub.r can accept service states Z.sub.MPS,r, wherein the following applies: Z.sub.MPS,rϵZ.sub.MPS,r,total and Z.sub.MPS,r,total defines a state space, which indicates the quantities of all possible service states, and wherein a state space Z.sub.MPS,r,permitted is further specified, which defines the quantity of all permitted service states Z.sub.MPS,r,permitted, wherein the following applies: Z.sub.MPS,r,permittedϵZ.sub.MPS,r,permitted and Z.sub.MPS,r,permitted.Math.Z.sub.MPS,r,total.

(24) The data network DN (206) can accept data network states Z.sub.data, wherein the following applies: Z.sub.dataϵZ.sub.data,total and Z.sub.data,total defines a state space, which indicates the quantities of all possible data network states, and wherein a state space Z.sub.data,permitted is further specified, which defines the quantity of all permitted data network states Z.sub.data,permitted, wherein the following applies: Z.sub.data,permittedϵZ.sub.data,permitted and Z.sub.data,permitted.Math.Z.sub.data,total.

(25) The central control unit ZSE 203 is designed and configured such that predictive testing, during execution of the current control program SP(t), to determine whether a complete execution of the current control program SP(t) will lead to an error state, wherein the error state is defined such that complete execution of the current control program SP(t) leads to a: robot state Z.sub.robo, to which the following applies: Z.sub.robo.Math.Z.sub.robo,permitted and/or sensor state Z.sub.S1,i, to which the following applies: Z.sub.S1,i.Math.Z.sub.S1,i,permitted and/or control unit state Z.sub.ZSE, to which the following applies: Z.sub.ZSE.Math.Z.sub.ZSE,permitted and/or processor state Z.sub.PE,r, to which the following applies: Z.sub.PR,r.Math.Z.sub.PR,r,permitted and/or service state Z.sub.MPS,r, to which the following applies: Z.sub.MPS,r.Math.Z.sub.MPS,r,permitted and/or user interface state Z.sub.NS,p, to which the following applies: Z.sub.NS,p.Math.Z.sub.NS,p,permitted and/or data network state Z.sub.data(t), to which the following applies: Z.sub.data.Math.Z.sub.data,permitted,
and, if such an error state is predicted during the testing, one or more of the following listed actions are executed: automatic modifying of the current control program SP(t) such that no error state is determined with a new predictive test, and execution of the automatically, correspondingly modified control program SP(t); generating a prompt to modify the current control program SP(t) on one or all user interfaces NS.sub.p; generating an optical or acoustic warning; stopping the execution of the current control program SP(t); and activating the robot ROBO to take on a predefined standby state;

(26) Although the invention has been illustrated and explained in more detail by preferred example embodiments, the invention is not limited by the disclosed examples and other variations may be derived by one of ordinary skill in the art without extending beyond the protective scope of the invention. It is thus clear that a plurality of variation options exists. It is likewise clear that example embodiments actually only represent examples, which are not to be interpreted in any manner as a limitation, for example, of the protective scope, the use options, or the configuration of the invention. Rather, the previous description and the description of figures should make one of ordinary skill in the art capable of specifically implementing the example embodiments, wherein one of ordinary skill in the art with knowledge of the disclosed concept of the invention can undertake various changes, for example with respect to the function or the arrangement of individual elements listed in an example embodiment, without going beyond the scope of protection, which is defined by the claims and the legal equivalents thereof such as, for example, more extensive explanations in the description.

LIST OF REFERENCE NUMBERS

(27) 101 Method step 102a-e Method steps 201 Robot 202 First sensors 203 Control unit 204 User interfaces 205 Processor units 206 Data network