A method for a service robot Bewegungskommandierung

A process for running of a person Bewegungskommandierung a mounted on a mobile platform service robot with a comprising a plurality of articulated members, preferably position controllable robot arm for measurement of torques and / or forces and / or movements of a sensor in the form of sensors for torques and / or includes forces and / or angular and / or positional differences, wherein the robot arm (1) for guidance of the robot by the person at a selected location directly touched and thereby forces are exerted on it, which via the robot structure joints to be transmitted, wherein the force exerted by the person conducting joint torques of the joints of the preferably position controllable robot arm (1) provided for the joint torque sensors are detected from the measured by the joint torque sensors total torque for correcting those components are deducted, you the dead weight of the robot are rch causes and are based on the known or determined for the robot kinematics and dynamics parameters, and thus determined, exerted by the person operating torques kinematic ...