Integration of a sensor in robot motion control with fast reactions parallel processed in real time

A method is described for the implementation of a sensor control in parallel to a simple robot motion control. This method offers great modularity by decentralization, fast reactions in real-time by parallel computing of the sensor data, implementability of various, application-specific control algorithms for sensor data, a relatively slow communication with a robot motion control on the Cartesian level, and fast sensor influence immediately on the robot joints. The basic characteristics of the robot motion control remain the same. When active, sensor control overlays the axis values with additional correction values which are calculated in parallel and operate with time constraints independent of the basic robot control