US Patent 9102058 Method and apparatus for implementing a manipulator process

A method for executing a manipulator process with at least two manipulator poses with a manipulator, in particular a robot, wherein the manipulator comprises at least one drive means having a motor and a brake, comprising the steps of:(S10) Assuming a manipulator pose;(S20) Stopping at least one drive means;(S30) Closing at least one brake of this drive means;(S40) Reduction of the energy supply to the drive means;(S50) Increasing the energy supply to the drive means;(S60) Opening the closed brake;(S70) Assuming another manipulator pose.