DE102016016051B4 - Robot assembly with handheld - Google Patents

Abstract

Method for operating a robot arrangement with at least one robot (10, 20) with the steps:
Detecting (S10) position and/or movement measurement data (a ₁₀₀ ) of at least one handheld (100) using an inertial and/or GPS sensor (110) of this handheld while it is on a movable member (12; 22). attached to the robot assembly;
Determining (S20, S30) position and/or movement data (Δx ₁₀₀ ) of the handheld and/or position and/or movement data (Δx ₁₂ ) of the movable member based on the recorded position and/or movement measurement data of the handheld ; and
Transmitting (S30) this determined position and/or movement data to at least one receiver (13, 23, 200), the handheld having at least one graphic display and/or a camera (111) and/or an autonomous power supply (113) and /or is set up for mobile communication.

Description

The present invention relates to a robot arrangement with at least one robot and at least one handheld, which is or is attached to a movable member of a robot of the robot arrangement, a method for operating the robot arrangement, a computer program product for carrying out the method and the use of one or more handhelds .

It will be on the DE 21 2013 000 217 U1 , the DE 10 2011 011 681 A1 , the DE 10 2004 020 099 A1 , the DE 103 49 361 A , the EP 0 440 588 A1 and US 2010 / 0 145 520 A1.

So-called handhelds or handheld devices are generally known. In the present case, a handheld is understood to mean, in particular, a portable electronic (mobile (end)) device for different applications, which can preferably be held in just one hand during use or is set up for this purpose, in particular so-called smartphones.

Such handhelds often have inertial sensors, in particular acceleration sensors, and/or GPS sensors, which enable the handheld to record its position and/or movement.

The object of the present invention is to improve the operation of a robot arrangement, in particular to be able to record the operation of the robot arrangement more easily.

This task is solved by a method with the features of claim 1. Claims 10 to 12 protect a robot arrangement for carrying out a method described here, the use of at least one handheld device for operating a robot arrangement described here or a computer program product for carrying out a method described here. The subclaims relate to advantageous further training.

According to one embodiment of the present invention, a robot arrangement has one or more robots. In a further development, the or one or more of these robots (each) have one or more, in particular at least six, in particular at least seven, movable (robot) members, which in a further development are connected to one another in an articulated manner, and drives, in particular electric motors controlled movement of these limbs. A movable (robot) member can in particular be a carousel, a rocker, a part of a robot hand or, in particular, preferably a tool flange or a robot tool attached to it.

According to one embodiment of the present invention, one or more handhelds are or are attached at least temporarily (each) to one or more members of one or more robots of the robot arrangement, which (each) have an, in particular integrated, inertial and/or GPS sensor .

According to one embodiment of the present invention, a method for, in particular at least completely or partially automated, operation of the robot arrangement comprises the step: acquiring position and/or movement measurement data of one or more handheld devices using the inertial and/or GPS sensor of this handheld device , while it is attached to a movable member of the robot assembly, in particular a robot of the robot assembly.

In one embodiment, operating the robot arrangement can include, in particular, controlling and/or monitoring the robot arrangement.

In one embodiment, position data can indicate, in particular be or depend on, a one-, two- or three-dimensional, in particular Cartesian, position and/or a one-, two- or three-dimensional orientation, in particular of a handheld or (robot) member .

In one embodiment, movement data can indicate, in particular be or depend on, a first, second and/or higher time derivative or change of such position data, in particular one-, two- or three-dimensional translational and/or one-, two- or three-dimensional rotational speeds and/or Accelerations, in particular of one or of the handheld or (robot) limb, indicate, in particular, be or depend on this.

According to one embodiment of the present invention, the method comprises the step: determining position and/or movement data of the (respective) handheld based on the recorded position and/or movement measurement data of this handheld. The recorded position and/or movement measurement data of a handheld itself are also referred to as determined position and/or movement data of this handheld for more compact representation, so the determination can in particular be an identity or evaluation.

Additionally or alternatively, the method according to one embodiment of the present invention includes the step: determining position and/or the movement data of the movable member based on the captured position and/or motion measurement data of the handheld device, which is attached to the member at least during the capture of the position and/or motion measurement data.

According to one embodiment of the present invention, the method comprises the step: transmitting the determined position and/or movement data of the handheld and/or the determined position and/or movement data of the movable member to one or more receivers.

According to one embodiment of the present invention, the robot arrangement is set up, in particular in terms of hardware and/or software, in particular program technology, to carry out a method described here.

• - Mittel zum Erfassen von bzw. der Positions- und/oder Bewegungs-Messdaten des bzw. der Handhelds mittels eines bzw. des Inertial- und/oder GPS-Sensors des (jeweiligen) Handhelds, während es an einem bzw. dem beweglichen Glied der Roboteranordnung, insbesondere eines Roboters der Roboteranordnung, befestigt ist;
• - Mittel zum Ermitteln von bzw. der Positions- und/oder Bewegungsdaten des bzw. der Handhelds und/oder von bzw. der Positions- und/oder Bewegungsdaten des beweglichen Glieds bzw. der beweglichen Glieder auf Basis der erfassten Positions- und/oder Bewegungs-Messdaten des (jeweiligen) Handhelds; und
• - Mittel zum Übermitteln dieser ermittelten Positions- und/oder Bewegungsdaten an einen oder mehrere bzw. den bzw. die Empfänger.

According to one implementation, the one or more handhelds of the robot assembly (each):

• - Means for detecting the position and/or movement measurement data of the handheld or the handheld by means of an inertial and/or GPS sensor of the (respective) handheld while it is on one or the movable member of the Robot assembly, in particular a robot of the robot assembly, is attached;
• - Means for determining the position and/or movement data of the handheld or the handheld and/or the position and/or movement data of the movable member or the movable members based on the detected position and/or movement -Measurement data from the (respective) handheld; and
• - Means for transmitting this determined position and/or movement data to one or more or the recipient(s).

By using handheld devices, in one embodiment of the present invention, position and/or movement data can advantageously be determined and used to operate, in particular control and/or monitor, the robot arrangement.

In one embodiment, the one or more handhelds (each) have at least one graphic display, in particular a touchscreen. In one embodiment, data and/or signals, for example position and/or movement data, exceeding speed or acceleration limits or the like, can advantageously be displayed by means of a graphic display. In one embodiment, a touchscreen can advantageously be used to improve the operation of the handheld.

Additionally or alternatively, in one embodiment, the one or more handhelds (each) have at least one, in particular integrated, camera. In this way, in one embodiment, operation of the robot arrangement can advantageously be visually controlled and/or monitored and/or recorded.

Additionally or alternatively, in one embodiment, the one or more of the handhelds (each) have at least one autonomous or handheld-proof, in particular integrated, energy supply, in particular power supply, in particular rechargeable batteries and/or batteries. In this way, interference caused by power lines can be avoided in one embodiment.

Additionally or alternatively, in one embodiment, the (each) handheld(s) are (each) set up for mobile communication, in particular mobile radio communication; in particular, a handheld can therefore be a mobile phone, in particular a smartphone. In this way, in one embodiment, in particular the transmission of the determined position and/or movement data can be improved.

Accordingly, it is proposed in particular to use tablets or tablet computers, personal digital assistants (“PDAs”) or the like and in particular preferably mobile phones, in particular smartphones, for operating, in particular controlling and/or monitoring, the robot arrangement, in particular for determining position and/or Movement data of the robot arrangement to be used. This means that existing, sophisticated and/or inexpensive handhelds can advantageously be used in a new function.

In one embodiment, the one or more handhelds are (each) non-destructively detachable and/or temporarily attached to the respective limb. In a further development, the one or more of the handhelds are (each) positively and/or frictionally connected, in particular magnetically, by means of a plug-in, clamping, screw, Velcro and/or snap-in connection to the handheld respective link, in particular on a handheld attachment set up for this purpose, in particular in a handheld holder set up for this purpose, of the link, which in turn can be or can be releasably attached to the link in a further development, in particular in order to be removed when not needed and thus protected and/or not to hinder the operation of the robot. Likewise, a handheld and/or a handheld attachment can also be non-destructively removable or be or will be permanently attached to the respective limb. In one embodiment, at least one handheld is gripped and/or guided by a gripper of a robot of the robot arrangement.

In one embodiment, the inertial sensor of one or more of the handhelds can (each) have one or more acceleration sensors for detecting a translational and/or rotational acceleration in or about one or more axis(s) and / or have, in particular, one or more single or multi-axis position, in particular gyroscopic sensors. These - as well as some GPS sensors - are often already present in commercial handhelds to enable games and other applications such as adapting the display to a current situation.

In one embodiment, the captured position and/or movement measurement data can include, in particular be, acceleration data.

Then, in a further development, position and/or speed data, in particular path data, of the handheld and/or the movable member are determined from these recorded acceleration (measurement) data.

In one embodiment, path data forms or comprises a, in particular ordered, sequence of position and/or speed data and/or assigned times and/or positions, in particular path parameters.

In a further development, the position and/or speed data, in particular path data, can be determined in particular by, in particular numerical and/or temporal and/or single or multiple, integration from the recorded acceleration (measurement) data.

The position and/or speed data of the movable member can, in a further development, in particular by transformation based on a known, in particular predetermined and/or measured, in particular calibrated, position and/or orientation of the handheld relative to the movable member on which it is at least during is attached to the capture, can be determined from the captured acceleration (measurement) data.

In one embodiment, acceleration (measurement) data of the limb can first be determined from acceleration (measurement) data of the handheld by transformation, and position and/or speed data of the movable limb can be determined from these through integration. Likewise, in one embodiment, position and/or speed data of the handheld can first be determined from acceleration (measurement) data of the handheld through integration, and position and/or speed data of the movable member can be determined from these by transformation.

In one embodiment, the determination of the position and/or speed data of the handheld and/or the movable member can be carried out completely or partially by the handheld, in particular completely while it is attached to the movable member, completely after detachment from the movable member, or partially while attached to the movable member and partially after detachment from the movable member.

Likewise, in one embodiment, the determination of the position and/or speed data of the handheld and/or the movable member can be carried out completely or partially by the receiver.

In one embodiment, the handheld can directly transmit the recorded position and/or movement measurement data to the receiver, which from this, in particular through integration and, if necessary, transformation, position and/or movement data, in particular path data, of the handheld and/or the movable Limb determined. Likewise, in one embodiment, the handheld can already determine, in particular through integration and, if necessary, transformation, position and/or movement data, in particular path data, of the handheld and/or the movable member and only transmit this to the receiver. Likewise, in one embodiment, the handheld can, in particular through integration, determine position and/or movement data, in particular path data, of the handheld and transmit this to the receiver, which from this, in particular through transformation, position and/or movement data, in particular path data of the movable Limb determined.

Accordingly, in one embodiment, the robot arrangement, in particular the or one or more of the handhelds and/or the or one or more of the receivers, have means for determining position and/or speed data, in particular path data, of the handheld and/or or the movable member from acceleration data of the handheld, in particular through integration and/or transformation.

In one embodiment, captured position and/or movement measurement data and/or determined position and/or movement measurement data are transmitted, in particular to a receiver Position and/or movement measurement data stored in the handheld and/or the receiver. Accordingly, in one embodiment, the robot arrangement, in particular the or one or more of the handhelds and/or the or one or more of the receivers, have means for storing recorded position and/or movement measurement data and/or determined positions - and/or movement measurement data.

In one embodiment, one or more controllers of the robot assembly (each) control and/or monitor one or more robots of the robot assembly based on the determined position and/or movement data transmitted to this controller.

In a further development, a controller controls one or more robots in particular in such a way that they move to or from the transmitted position and/or movement data, in particular path data, with a robot-fixed reference or a robot member. Additionally or alternatively, in a further development, a controller can monitor one or more robots, in particular for deviations between the transmitted position and/or movement data, in particular path data, and corresponding target data and/or position and/or movement data determined elsewhere. In particular, in one embodiment, position and/or movement data, which is recorded or determined, for example, using joint sensors of a robot, can be compared or compared with position and/or movement data, which is recorded using the inertial and/or GPS sensor a handheld attached to the robot can be detected or determined.

Accordingly, in one embodiment, the robot assembly, in particular one or more controllers of the robot assembly, (each) have means for controlling and/or monitoring one or more robots of the robot assembly based on the determined position and/or movement data transmitted to this controller.

In one embodiment, the position and/or movement data can be transmitted to the controller directly from the handheld or directly between the controller and the handheld, using its inertial and/or GPS sensor to determine the underlying position and/or motion data. Measurement data is or has been recorded. At the same time, this handheld can first transmit position and/or movement data to a receiver that is different from a controller of one or more robots, in particular a receiver that is spatially spaced apart, in particular a higher-level controller, in particular a PLC, another handheld, a buffer or the like, which, if necessary after further processing and/or storage, then transmits this, in particular wirelessly or wired, to the control of one or more robots, controls the robot(s) based on this (indirectly) transmitted position and/or movement data and/ or monitored.

Accordingly, in one embodiment, one or more controllers (each) of one or more robots of the robot arrangement (each) can have the or one of the receivers, in particular be this. Additionally or alternatively, in one embodiment, the or one or more of the receivers (each) are different from the control of one or more robots of the robot arrangement, in particular spatially spaced and / or a further handheld, a higher-level controller, a buffer or the like, this In a further development, the receiver transmits position and/or movement data wirelessly or by wire to this spatially spaced controller or is set up for this purpose.

By directly transmitting position and/or movement data from the handheld to a controller of one or more robots, in one embodiment an advantageous, in particular rapid and/or reliable, transmission can be provided. By transmitting position and/or movement data from the handheld, in particular initially, to a (different) receiver that is different from the control of one or more robots of the robot arrangement, in particular a buffer, a higher-level controller, another handheld or the like, and If necessary, a (further) transmission of this position and/or movement data, if necessary after further processing and/or storage by the (other) receiver, to the control of one or more robots of the robot arrangement, in one embodiment data about further and/or transmission-technically problematic, in particular routes that are prone to failure, are made available with a time delay and/or after further processing and/or (intermediate) storage.

In one embodiment, at least one controller controls and/or monitors at least one robot on the basis of the position and/or movement data (determined and transmitted based on the captured position and/or movement measurement data) which is sent (directly or indirectly) online to it be transmitted. In this way, in one embodiment, in particular, a second robot can be synchronized with a first robot to which a handheld is attached, with position and/or movement measurement data of this handheld using its Inertial and / or GPS sensor recorded, position and / or movement data of this handheld and / or the movable link of the first robot to which it is attached, determined based on the recorded position and / or movement measurement data and determined this Position and/or movement data are transmitted online to the control of the second robot. The first robot can therefore in particular be a master, the second robot in particular a slave of the robot arrangement.

Additionally or alternatively, in one embodiment, at least one controller controls and/or monitors at least one robot on the basis of the position and/or movement data (determined and transmitted based on the recorded position and/or movement measurement data) which is at least prior to operation a robot, especially in the handheld or the controller. In this way, in one embodiment, a position, in particular a path, of a robot can be approached or tracked (again) by this robot and/or another robot.

In one embodiment, at least one controller controls and/or monitors at least one robot based on the position and/or movement data transmitted to it, which is or was determined on the basis of position and/or movement measurement data, which (each) by means of one or more handhelds attached to this robot or their inertial and/or GPS sensors are or have been recorded. This allows a robot, for example, to follow a path that was recorded by a smartphone it is operating or to check it while it is moving.

Additionally or alternatively, in one embodiment, at least one controller controls and/or monitors at least one robot based on the position and/or movement data transmitted to it, which is or was determined on the basis of position and/or movement measurement data, which ( in each case) are or were detected by means of one or more handhelds attached to another robot of the robot arrangement or their inertial and / or GPS sensors. In this way, for example, a second robot can then follow or synchronously follow a path that was recorded by a smartphone guided by another, first robot.

In one embodiment, the position and/or movement data from the or one or more of the handhelds (each) are transmitted wirelessly, in particular via a wireless network, in particular near field communication and/or a WLAN or mobile radio network, in particular WiFi, transmitted. This allows advantageous communication between the handheld and the receiver to be achieved. Accordingly, in one embodiment, at least one receiver has a receiving device, in particular an antenna, for (physically) receiving signals emitted by a handheld, in particular radio signals, which encode or contain transmitted position and/or movement data.

According to one embodiment of the present invention, one or more handheld devices described here, in particular mobile phones, in particular smartphones, tablets or the like, are used in the manner described here to operate one or the robot arrangement.

A means in the sense of the present invention can be designed in terms of hardware and/or software, in particular a processing unit (CPU) and/or a processing unit (CPU), in particular a microprocessor unit (CPU), which is preferably data or signal-connected to a memory and/or bus system or have several programs or program modules. The CPU can be designed to process instructions that are implemented as a program stored in a memory system, to detect input signals from a data bus and/or to deliver output signals to a data bus. A storage system can have one or more, in particular different, storage media, in particular optical, magnetic, solid-state and/or other non-volatile media. The program can be designed in such a way that it embodies or is able to carry out the methods described here, so that the CPU can carry out the steps of such methods and thus in particular can operate the robot arrangement.

One or more steps of a method described here are carried out completely or partially automatically in one embodiment.

• 1: eine Roboteranordnung bzw. Verwendung wenigstens eines Smartphones nach einer Ausführung der vorliegenden Erfindung; und
• 2: ein Verfahren zum Betreiben der Roboteranordnung nach einer Ausführung der vorliegenden Erfindung.

Further advantages and features result from the subclaims and the exemplary embodiments. This shows, partly schematized:

• 1 : a robot arrangement or use of at least one smartphone according to an embodiment of the present invention; and
• 2 : a method for operating the robot assembly according to an embodiment of the present invention.

1 shows a robot arrangement according to an embodiment of the present invention a first robot 10 and a second robot 20.

A handheld attachment in the form of a smartphone holder 11 or 21 is permanently or detachably arranged on the tool flange 12 of the first robot 10 and on the tool flange 22 of the second robot 20. A handheld in the form of a smartphone 100 is fastened in the smartphone holder 11, for example by means of a releasable snap or clamp connection.

The smartphone 100 has, in a manner known per se, a six-axis acceleration sensor 110 for detecting a three-dimensional translational and a three-dimensional rotational acceleration of the sensor or smartphone. The translational and rotational acceleration in each of three axes detected in this way by the sensor 110 of the smartphone 100 is in 2 marked with a ₁₀₀ .

In addition, the smartphone 100 has an integrated camera 111, a touchscreen 112 and batteries 113 in a manner known per se.

The robot arrangement has a first (robot) controller 13 for controlling the first robot 10 and a second (robot) controller 23 for controlling the second robot 20.

To operate the robot arrangement, recorded in a step S10 (cf. 2 ) the smartphone 100 uses its acceleration sensor 110 to measure the current six-axis acceleration a ₁₀₀ while the first robot 10 is moved, for example by hand guidance under flexible control, manual control or the like.

From this, the smartphone 100 determines a change in the Cartesian position and the orientation Δx ₁₀₀ of the sensor 110 or smartphone 100 in a step S20 by numerical double time integration.

From this, the smartphone 100 determines a change in the Cartesian position and the orientation Δx 12 of the tool flange 12 in a step S30 by means of a transformation based on its known position and orientation relative to the tool flange ₁₂ as a result of the smartphone holder 11.

The smartphone 100 transmits this data Δx ₁₂ in step S30 both to a receiving device in the form of an antenna 131 of the first controller 13 and to a receiving device in the form of an antenna 231 of the second controller 23. The first and second controllers 13, 23 thus represent receivers represents.

In a step S40, the first controller 13 saves the sequence of transmitted data Δx ₁₂ together with the times ti assigned to them as path data Δx ₁₂ (t _i ).

The path traversed by the first robot 10 can thus be saved in the form of the path data Δx ₁₂ (t _i ) and then traversed repeatedly by the first controller 13.

The second controller 23 controls the second robot 20 based on the online transmitted data Δx ₁₂ from the first robot 10 so that the tool flange 22 of the second robot 20 executes or tracks the movement of the tool flange 12 of the first robot 10 synchronously.

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

In particular, additionally or alternatively, the movement of the first robot 10 can be monitored on the basis of the data Δx ₁₂ , in particular compared with predetermined target values or otherwise, for example, actual values recorded using joint angle sensors.

Additionally or alternatively, parts of steps S20 - S40 can also be carried out by the first and/or second controller 13 or 23.

Conversely, the smartphone 100 can also save the path data Δx ₁₂ (t _i ) and then transmit it, for example, to the second controller 23 or its antenna 231, so that the controller 23 can travel along the stored path with the second robot 20. This can be done as in 1 indicated by dashed lines, the smartphone 100 can be fastened in the smartphone holder 21. Then the second controller 23 can control the second robot 20 so that the smartphone 100 arranged in the smartphone holder follows the same path that it previously traveled guided by the first robot 10.

Equally, it is possible for the smartphone 100 to transmit the data a ₁₀₀ , Δx ₁₀₀ , Δx ₁₂ or Δx ₁₂ (t _i ), in particular online, to a higher-level controller (not shown) or to another smartphone 200, which transmits them then in turn, if necessary after appropriate further processing, in particular integration and / or transformation, transmitted to the second controller 23.

It should also be noted that the exemplary statements are merely examples that reflect the scope of protection Applications and structure should not be restricted in any way. Rather, the preceding description provides the person skilled in the art with a guideline for the implementation of at least one exemplary embodiment, whereby various changes, in particular with regard to the function and arrangement of the components described, can be made without leaving the scope of protection, as it appears the claims and combinations of features equivalent to them.

Reference symbol list

10/20

first/second robot

11/21

Smartphone holder (handheld attachment)

12/22

Tool flange

13/23

first/second (robot) controller

100

Smartphone (handheld)

110

Acceleration sensor (inertial sensor)

111

camera

112

Touch screen

113

battery pack

131, 231

antenna

200

another smartphone

a100

acceleration

Δx100

Change in position and orientation smartphone/sensor

Δx12

Change in position and orientation of the tool flange

Δx12(ti)

Railway data

Claims (12)

Method for operating a robot arrangement with at least one robot (10, 20) with the steps: acquiring (S10) position and/or movement measurement data (a ₁₀₀ ) of at least one handheld device (100) by means of an inertial and/or GPS Sensor (110) of this handheld while it is attached to a movable member (12; 22) of the robot assembly; Determining (S20, S30) position and/or movement data (Δx ₁₀₀ ) of the handheld and/or position and/or movement data (Δx ₁₂ ) of the movable member based on the recorded position and/or movement measurement data of the handheld ; and transmitting (S30) this determined position and/or movement data to at least one receiver (13, 23, 200), the handheld having at least one graphic display and/or a camera (111) and/or an autonomous power supply (113). and/or is set up for mobile communication. Method according to the preceding claim, characterized in that the handheld is or is detachably and/or temporarily attached to the limb, in particular guided by a gripper and/or attached to a handheld attachment (11, 21) of the limb. Method according to one of the preceding claims, characterized in that the inertial sensor has at least one acceleration sensor (110). Method according to one of the preceding claims, characterized in that the recorded position and / or movement measurement data of the handheld have, in particular are, acceleration data (a ₁₀₀ ), from which, in particular through integration and / or transformation and / or through the handheld and / or the receiver, position and/or speed data (Δx ₁₀₀ , Δx ₁₂ ), in particular path data Δx ₁₂ (t _i ), of the handheld and/or the movable member are determined. Method according to one of the preceding claims, characterized in that at least one controller (13, 23) of at least one robot (10, 20) of the robot arrangement has a receiver or is different from the receiver. Method according to one of the preceding claims, characterized in that at least one controller (13, 23) controls at least one robot (10, 20) of the robot arrangement on the basis of the determined position and/or movement data (Δx ₁₀₀ , Δx ₁₂ ) transmitted to the controller. controls and/or monitors. Procedure according to Claim 5 , characterized in that the controller controls and/or monitors the at least one robot based on the position and/or movement data that is transmitted to it online or has been stored before the operation of the at least one robot. Procedure according to Claim 5 or 6 , characterized in that the controller controls and/or monitors the at least one robot on the basis of the position and/or movement data transmitted to it, which is based on a hand attached to this or another robot of the robot arrangement by means of at least one hand helds recorded position and/or movement measurement data can be determined. Method according to one of the preceding claims, characterized in that the determined position and/or movement data are transmitted wirelessly, in particular via a wireless network, and/or received by a receiving device (131, 231) of the receiver. Robot arrangement with at least one robot (10, 20), which is set up to carry out a method according to one of the preceding claims and/or has: means (100, 110) for acquiring position and/or movement measurement data (a ₁₀₀ ) at least a handheld (100) of the robot assembly by means of an inertial and/or GPS sensor (110) of said handheld while attached to a movable member (12, 22) of the robot assembly; Means (100) for determining position and/or movement data (Δx ₁₀₀ ) of the handheld and/or position and/or movement data (Δx ₁₂ ) of the movable member based on the recorded position and/or movement measurement data of the handheld ; and means (100) for transmitting this determined position and/or movement data to at least one receiver (13, 23, 200). Use of at least one handheld device (100, 200) to operate a robot arrangement (10, 20, 13, 23, 100, 200). Claim 10 . Computer program product with a program code stored on a computer-readable medium for carrying out a method according to one of the preceding Claims 1 until 9 .

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