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    Industrial robot training using mixed reality
    41.
    发明授权
    Industrial robot training using mixed reality 有权

    公开(公告)号：US10751877B2

    公开(公告)日：2020-08-25

    申请号：US15902142

    申请日：2018-02-22

    Applicant: ABB Schweiz AG

    Inventor： Jianjun Wang ,  Remus Boca ,  Biao Zhang ,  Carlos Martinez ,  Thomas Fuhlbrigge

    IPC: B25J9/16 ,  G06T19/00 ,  H04N7/18

    Abstract: Unique systems, methods, techniques and apparatuses of a robot training system are disclosed. One exemplary embodiment is an industrial robot training system comprising a mixed reality display device structured to superimpose a virtual scene on a real-world view of a real-world scene including a plurality of physical objects including an industrial robot, a video input device, and a computing device. The computing device is structured to detect physical objects using video output from the video input device, generate virtual objects using the detected physical objects, simulate a virtual robot path, determine one movement of the series of robot movements causes a collision, adjust the virtual robot path so as to avoid the collision between the two virtual objects of the plurality of virtual objects, and program the industrial robot to perform a real robot path using the adjusted virtual robot path.

    User interface for a teleoperated robot
    42.
    发明授权
    User interface for a teleoperated robot 有权

    公开(公告)号：US10730180B2

    公开(公告)日：2020-08-04

    申请号：US15825914

    申请日：2017-11-29

    Applicant: ABB Schweiz AG

    Inventor： Gregory F. Rossano ,  Carlos Martinez ,  Jianjun Wang ,  Biao Zhang ,  Thomas A. Fuhlbrigge

    IPC: B25J9/16 ,  B25J13/02 ,  B25J13/06 ,  B25J13/08 ,  B25J11/00 ,  G06F3/0484 ,  G06K9/20 ,  G06K9/62 ,  G06K9/78

    Abstract: A teleoperated robotic system that utilizes a graphical user interface (GUI) to perform work on a workpiece(s) using a robot. A coordinate system of the GUI is correlated to the tool center point (TCP) of the robot and the TCP or workspace of a teleoperated member, such as a haptic joystick. Operable manipulation of the teleoperated member is correlated to a movement at a particular location in the robot station, such as movement of the TCP of the robot. The GUI can also provide digital representations of the workpiece, which is based on inputted and/or scanned information relating to a reference workpiece and/or the particular workpiece on which the robot is performing work. The GUI can further provide indications of the various stages of assembly of the workpiece, as well as an indication of work already, or to be, performed on the workpiece.

    ROBOT LOCALIZATION IN A WORKSPACE VIA DETECTION OF A DATUM
    44.
    发明申请
    ROBOT LOCALIZATION IN A WORKSPACE VIA DETECTION OF A DATUM 审中-公开

    公开(公告)号：US20180275632A1

    公开(公告)日：2018-09-27

    申请号：US15467573

    申请日：2017-03-23

    Applicant: ABB Schweiz AG

    Inventor： Biao Zhang ,  Jianjun Wang ,  Remus Boca

    IPC: G05B19/408

    CPC classification number: G05B19/4086

    Abstract: Apparatus and method is disclosed for determining position of a robot relative to objects in a workspace which includes the use of a camera, scanner, or other suitable device in conjunction with object recognition. The camera, etc is used to receive information from which a point cloud can be developed about the scene that is viewed by the camera. The point cloud will be appreciated to be in a camera centric frame of reference. Information about a known datum is used and compared to the point cloud through object recognition. For example, a link from a robot could be the identified datum so that, when recognized, the coordinates of the point cloud can be converted to a robot centric frame of reference since the position of the datum would be known relative to the robot.

    Contact force limiting with haptic feedback for a tele-operated robot
    46.
    发明授权
    Contact force limiting with haptic feedback for a tele-operated robot 有权

    公开(公告)号：US09849595B2

    公开(公告)日：2017-12-26

    申请号：US15016578

    申请日：2016-02-05

    Applicant: ABB Schweiz AG

    Inventor： Jianjun Wang ,  Thomas A. Fuhlbrigge ,  Biao Zhang

    IPC: B25J9/16 ,  B25J13/02 ,  G06F3/01

    CPC classification number: B25J13/025 ,  B25J9/1689 ,  G05B2219/36455 ,  G05B2219/37396 ,  G06F3/016 ,  G06F2203/014 ,  G06F2203/015 ,  Y10S901/04

    Abstract: One exemplary embodiment is a system comprising an operator input device structured to move in response to operator-applied force and to selectably output feedback force to the operator. A first computing system is structured to receive input from the operator input device and provide an output. A second computing system is structured to receive the output and provide a robot control command subject to a force constraint. An industrial robot system is in operative communication with the second computing system and comprises a robotic arm structured to move in response to the command. The second computing system is structured process the output to impose a force constraint using a dual threshold hysteresis control. The first computing system is structured to apply a feedback force to the operator input device correlated to force associated with the industrial robot system.

    Incorporating Vision System and In-Hand Object Location System for Object Manipulation and Training
    49.
    发明申请
    Incorporating Vision System and In-Hand Object Location System for Object Manipulation and Training 有权

    公开(公告)号：US20210023715A1

    公开(公告)日：2021-01-28

    申请号：US16521025

    申请日：2019-07-24

    Applicant: ABB Schweiz AG

    Inventor： Biao Zhang ,  Yixin Liu ,  Thomas A. Fuhlbrigge ,  Saumya Sharma

    IPC: B25J9/16

    Abstract: A system and method of object manipulation and training including providing at least one robotic hand including a plurality of grippers connected to a body and providing a plurality of cameras disposed in a periphery surface of the grippers. The method also includes providing a plurality of tactile sensors disposed in the periphery surface of the grippers and actuating the grippers to grasp an object. The method further includes detecting a position of the object with respect to the robotic hand via a first image feed from the tactile sensors and detecting a position of the object with respect to the robotic hand via a second image feed from the cameras. The method also includes generating instructions to grip and manipulate an orientation of the object based on the first and the second image feeds for a visualization of the object relative to the robotic hand.

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