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1.发明申请METHOD AND DEVICE FOR CONTROLLING MOTION OF AN INDUSTRIAL ROBOT WITH A POSITION SWITCH 审中-公开用于控制具有位置开关的工业机器人的运动的方法和装置
公开(公告)号：WO2007057390B1
公开(公告)日：2007-08-23
申请号：PCT/EP2006068443
申请日：2006-11-14
Applicant: ABB AB , HELLBERG MAGNUS , THULIN MATS , FORS MICHAEL , MIKAELSSON PIERRE , THORS TOMMY , KOCK SOENKE , BEHNISCH KEVIN , ERIKSSON PETER , BREDAHL JAN , TORESSON BO
Inventor： HELLBERG MAGNUS , THULIN MATS , FORS MICHAEL , MIKAELSSON PIERRE , THORS TOMMY , KOCK SOENKE , BEHNISCH KEVIN , ERIKSSON PETER , BREDAHL JAN , TORESSON BO
IPC: B25J9/16
CPC classification number: B25J9/1674
Abstract: A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer (10) running a servo controller. A motion limit is configured for at least one axis of said robot arm. A reference signal (1) for a robot position is sent to a robot controller (13) together with a measurement of a position of said robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator (4) for the purpose of limiting the motion of an arm of said robot.
Abstract translation: 一种用于控制布置有机器人控制单元的多轴工业机器人或机械手的方法，所述机器人或所述控制单元还包括运行伺服控制器的至少一个第一计算机（10）。 对于所述机器人手臂的至少一个轴构造运动限制。 用于机器人位置的参考信号（1）与所述机器人手臂的位置的测量一起发送到机器人控制器（13）。 处理参考位置，然后在评估器（4）中比较测量位置和处理的参考位置，以限制所述机器人的臂的运动。
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公开(公告)号：WO2007057390A2
公开(公告)日：2007-05-24
申请号：PCT/EP2006068443
申请日：2006-11-14
Applicant: ABB AB , HELLBERG MAGNUS , THULIN MATS , FORS MICHAEL , MIKAELSSON PIERRE , THORS TOMMY , KOCK SOENKE , BEHNISCH KEVIN , ERIKSSON PETER , BREDAHL JAN , TORESSON BO
Inventor： HELLBERG MAGNUS , THULIN MATS , FORS MICHAEL , MIKAELSSON PIERRE , THORS TOMMY , KOCK SOENKE , BEHNISCH KEVIN , ERIKSSON PETER , BREDAHL JAN , TORESSON BO
IPC: B25J9/16
CPC classification number: B25J9/1674
Abstract: A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer (10) running a servo controller. A motion limit is configured for at least one axis of said robot arm. A reference signal (1) for a robot position is sent to a robot controller (13) together with a measurement of a position of said robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator (4) for the purpose of limiting the motion of an arm of said robot.
Abstract translation: 一种用于控制布置有机器人控制单元的多轴工业机器人或机械手的方法，所述机器人或所述控制单元还包括运行伺服控制器的至少一个第一计算机（10）。 对于所述机器人手臂的至少一个轴构造运动限制。 用于机器人位置的参考信号（1）与所述机器人手臂的位置的测量一起发送到机器人控制器（13）。 处理参考位置，然后在评估器（4）中比较测量位置和处理的参考位置，以限制所述机器人的臂的运动。
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公开(公告)号：AT402793T
公开(公告)日：2008-08-15
申请号：AT03703615
申请日：2003-02-05
Applicant: ABB AB
Inventor： KOCK SOENKE , OESTERLEIN ROLAND , BROGARDH TORGNY
Abstract: An industrial robot including a parallel kinematic manipulator of an object in space. The manipulator includes a stationary platform, a movable platform for carrying the object, and at least three arms connecting the platforms. Each arm includes a first arm part connected to the stationary platform for manipulating the movable platform.
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公开(公告)号：SE0301531D0
公开(公告)日：2003-05-22
申请号：SE0301531
申请日：2003-05-22
Applicant: ABB AB
Inventor： KOCK SOENKE , MUELLER CHRISTIAN , BROGAARDH TORGNY , BERGSJOE JESPER , MOBERG STIG , OLEVIK ANDREAS
Abstract: An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.
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公开(公告)号：SE0200343D0
公开(公告)日：2002-02-06
申请号：SE0200343
申请日：2002-02-06
Applicant: ABB AB
Inventor： KOCK SOENKE , OESTERLEIN ROLAND , BROGAARDH TORGNY
Abstract: An industrial robot including a parallel kinematic manipulator of an object in space. The manipulator includes a stationary platform, a movable platform for carrying the object, and at least three arms connecting the platforms. Each arm includes a first arm part connected to the stationary platform for manipulating the movable platform.
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Patent Agency Ranking
公开(公告)号：AT484364T
公开(公告)日：2010-10-15
申请号：AT03760184
申请日：2003-06-12
Applicant: ABB AB
Inventor： BROGARDH TORGNY , KOCK SOENKE
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公开(公告)号：SE0202283L
公开(公告)日：2004-03-17
申请号：SE0202283
申请日：2002-07-18
Applicant: ABB AB
Inventor： BROGAARDH TORGNY , WAEPPLING DANIEL , KULLBORG OVE , KOCK SOENKE , OESTERLEIN ROLAND
IPC: B25J20060101 , B25J9/08 , B25J9/10 , B25J17/02
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公开(公告)号：DE60334541D1
公开(公告)日：2010-11-25
申请号：DE60334541
申请日：2003-06-12
Applicant: ABB AB
Inventor： BROGARDH TORGNY , KOCK SOENKE
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公开(公告)号：DE60322510D1
公开(公告)日：2008-09-11
申请号：DE60322510
申请日：2003-02-05
Applicant: ABB AB
Inventor： KOCK SOENKE , OESTERLEIN ROLAND , BROGARDH TORGNY
Abstract: An industrial robot including a parallel kinematic manipulator of an object in space. The manipulator includes a stationary platform, a movable platform for carrying the object, and at least three arms connecting the platforms. Each arm includes a first arm part connected to the stationary platform for manipulating the movable platform.
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公开(公告)号：SE0400320D0
公开(公告)日：2004-02-06
申请号：SE0400320
申请日：2004-02-06
Applicant: ABB AB
Inventor： KOCK SOENKE , LUTHARDT COLIN , MUELLER CHRISTIAN , OLOFSSON AAKE
Abstract: A method of an industrial robot including a control unit and a manipulator including a tool including a defined tool center point and a device for determining a distance error between an inaccurately programmed position for a spot on a surface of a work piece and a corresponding actual position.
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