公开(公告)号：US10150214B2

公开(公告)日：2018-12-11

申请号：US15561752

申请日：2015-03-31

Applicant: ABB Schweiz AG

Inventor： Henrik Jerregård ,  Tomas Groth

IPC: B25J9/16 ,  G05B19/423

Abstract: A robot and method for controlling an industrial robot, which has a first robot arm, a second robot arm, a joint defining a kinematic pair between the first and second robot arms, an actuator for generating relative movement between the first and second robot arms, and a robot controller for controlling the movements of the actuator. The method includes the steps of: determining a presence of a first torque indication at the actuator to be interpreted as a first command to the robot controller; repeatedly obtaining an external torque value (τext) to obtain an external torque behavior; comparing the external torque behavior with the first torque indication; and executing a robot function corresponding to the first command upon detecting that the external torque behavior corresponds to the first torque indication. The obtained external torque behavior depends on a reference torque value (τref) obtained from a dynamic model of the robot.

公开(公告)号：US20170334071A1

公开(公告)日：2017-11-23

申请号：US15617475

申请日：2017-06-08

Applicant: ABB Schweiz AG

Inventor： Biao Zhang ,  Jianjun Wang ,  George Q. Zhang ,  Sangeun Choi ,  Remus Boca ,  Thomas A. Fuhlbrigge ,  Tomas Groth

IPC: B25J9/16

CPC classification number: B25J9/1689 ,  G05B2219/40195 ,  G05B2219/40204 ,  Y10S901/09 ,  Y10S901/46

Abstract: A machine has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that is configured to determine from data from one or more sensors at the machine location if an actual fault has occurred in the machine when the machine is performing its predetermined function and to determine for an actual fault one or more types for the fault and transmit the one or more fault types to the control station for analysis. The code in the controller is configured to be a preprogrammed trap routine specific to the machine function that is automatically executed when an error in the machine function is detected at the machine location. The controller also has a default trap routine that is executed when the specific routine does not exist.

公开(公告)号：US11717962B2

公开(公告)日：2023-08-08

申请号：US17170911

申请日：2021-02-09

Applicant: ABB Schweiz AG

Inventor： Tomas Groth ,  Arne Wahrburg

IPC: B25J9/16 ,  B25J9/06

CPC classification number: B25J9/1651 ,  B25J9/06 ,  G05B2219/39322 ,  G05B2219/43188 ,  G05B2219/50391

Abstract: A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (∥{dot over (x)}refk−J{dot over (q)}refk∥Wx) between the target speed vector ({dot over (x)}ref) and an actual speed vector ({dot over (x)}act) calculated from actual rotation speeds of the joints; and ii) a rate of change




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of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}ref) determined in step (b) as target rotation speeds of the joints.

公开(公告)号：US20230202041A1

公开(公告)日：2023-06-29

申请号：US17996352

申请日：2020-04-22

Applicant: ABB Schweiz AG

Inventor： Tomas Groth ,  Tomas Olsson

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/1633

Abstract: A method of controlling an industrial robot, the method including visualizing a nominal path of the industrial robot, the nominal path being associated with a nominal trajectory of the industrial robot; visualizing indications of values of at least one parameter of the industrial robot as when executing the nominal trajectory, for evaluating a risk potential of a physical contact between the industrial robot and a human; receiving a user input related to the nominal trajectory; modifying the nominal trajectory based on the user input to provide a modified trajectory; and executing the modified trajectory by the industrial robot. A control system and an industrial robot are also provided.

公开(公告)号：US20220184809A1

公开(公告)日：2022-06-16

申请号：US17593970

申请日：2019-04-05

Applicant: ABB Schweiz AG

Inventor： Markus Enberg ,  Tomas Groth

IPC: B25J9/16

Abstract: A system and a method, for assisting a user in programming a robot. Storage circuitry includes predefined possible values for a physical condition of at least two joints, the values being subdivided into two or more ranges. Processing circuitry is arranged to acquire a first path of the Tool Centre Point (TCP), receive, for each of a plurality of points of the first path and for the joints, a value associated with the physical condition at the respective points, determine which of the ranges the value is associated with, generate at least one additional path, associate each of the at least two joints to a respective path, and send instructions to a display, to illustrate the first path and the additional path, together with the information of which range the values are associated with at the plurality of points of the paths.

公开(公告)号：US20210162596A1

公开(公告)日：2021-06-03

申请号：US17169575

申请日：2021-02-08

Applicant: ABB Schweiz AG

Inventor： Debora Clever ,  Fan Dai ,  Hao Ding ,  Tomas Groth ,  Bjoern Matthias ,  Arne Wahrburg

IPC: B25J9/16

Abstract: A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.

公开(公告)号：US10518413B2

公开(公告)日：2019-12-31

申请号：US15777773

申请日：2015-12-11

Applicant: ABB Schweiz AG

Inventor： Annika Hedlund ,  Ivan Lundberg ,  Jonathan Styrud ,  Martin Nordvall ,  Ralph Sjöberg ,  Tomas Groth

IPC: B25J9/16 ,  G05B19/42

Abstract: An industrial robot including a manipulator and a robot control unit are disclosed, wherein the manipulator includes a plurality of joints that are moved under the control of the control unit, and the control unit includes a storage medium including program code for controlling the motions of the robot when executed by the control unit. The control unit is configured to automatically select which part of the program code to be executed next based on the position of the robot. A method for controlling the robot is also disclosed.

公开(公告)号：US20180373232A1

公开(公告)日：2018-12-27

申请号：US16061731

申请日：2016-02-02

Applicant: ABB Schweiz AG

Inventor： Annika Hedlund ,  Ivan Lundberg ,  Jonathan Styrud ,  Martin Nordvall ,  Ralph Sjöberg ,  Tomas Groth

IPC: G05B19/423 ,  B25J9/16

Abstract: An industrial robot including a movable robot arm for supporting a tool, and a control unit configured to control the movement of the robot. The control unit is provided with an alignment function for aligning the tool with at least one specified axis. The control unit is configured to supervise the movement of the robot, and to automatically adjust the orientation of the tool so that the tool is aligned with the specified axis upon detecting that the movement of the robot has been stopped and the alignment function is activated. Also disclosed is a method for controlling the industrial robot, and to the use of the method for teaching a robot a path including a plurality of target points by lead-through programming.