A method for controlling a robot during an interpolation of a trajectory
or motion to any prescribed position, comprises the steps of a) ignoring
at least one of the three originally prescribed or interpolated tool
center point orientation values; b) finding new tool center point
orientation values that place the wrist center point of the robot closest
to its base while c) maintaining the originally prescribed or
interpolated tool center point location values and d) maintaining the
original prescribed or interpolated tool center point orientation values
not ignored. Said method can preferably be used for carrying a load with
a plurality of robots. Its main advantage is an increase of the available
working volume.
