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公开(公告)号：DE69829559D1
公开(公告)日：2005-05-04
申请号：DE69829559
申请日：1998-05-13
Applicant: ABB AB VAESTERAAS
Inventor： BROG RDH TORGNY , ELFVING STAFFAN , JONSSON INGVAR , MOBERG STIG , SKANTZE FREDRIK
Abstract: A method for supervision of the movement control of a manipulator. The manipulator comprises at least one movement axis, a servo (9) for controlling the axis in accordance with supplied reference values for position, speed and acceleration (psiref, {dot over (psi)}ref, {umlaut over (psi)}ref). A plurality of dynamic parameters (dyn-par) are calculated in dependence on reference values for the position and speed of the axis and a dynamic model (7) which describes the static and dynamic properties of the robot. A torque signal (&tgr;mr) is generated by the servo in dependence on the control error torque (&tgr;err) of the servo. An alarm value (LV) is calculated as a function of the current acceleration ({umlaut over (psi)}m), at least any of the dynamic parameters and one or more of the following signals: the control error torque (&tgr;err) of the servo, the reference value for the acceleration ({umlaut over (psi)}ref) and the torque signal from the servo (&tgr;mr), and while using one or more signal filters. An alarm limit (LG) is calculated as a function of one or more of the following parameters: a constant, the current position (psim), the current speed ({dot over (psi)}m), the current acceleration ({umlaut over (psi)}m) any of the dynamic parameters, the control error torque (&tgr;err) of the servo, the reference value for the acceleration ({umlaut over (psi)}ref) and the torque signal from the servo (&tgr;mr). The alarm value is compared with the alarm limit and an alarm signal (ALARM) is generated in dependence on the comparison.
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公开(公告)号：DE69829559T2
公开(公告)日：2005-08-18
申请号：DE69829559
申请日：1998-05-13
Applicant: ABB AB VAESTERAAS
Inventor： BROG RDH TORGNY , ELFVING STAFFAN , JONSSON INGVAR , MOBERG STIG , SKANTZE FREDRIK
Abstract: A method for supervision of the movement control of a manipulator. The manipulator comprises at least one movement axis, a servo (9) for controlling the axis in accordance with supplied reference values for position, speed and acceleration (psiref, {dot over (psi)}ref, {umlaut over (psi)}ref). A plurality of dynamic parameters (dyn-par) are calculated in dependence on reference values for the position and speed of the axis and a dynamic model (7) which describes the static and dynamic properties of the robot. A torque signal (&tgr;mr) is generated by the servo in dependence on the control error torque (&tgr;err) of the servo. An alarm value (LV) is calculated as a function of the current acceleration ({umlaut over (psi)}m), at least any of the dynamic parameters and one or more of the following signals: the control error torque (&tgr;err) of the servo, the reference value for the acceleration ({umlaut over (psi)}ref) and the torque signal from the servo (&tgr;mr), and while using one or more signal filters. An alarm limit (LG) is calculated as a function of one or more of the following parameters: a constant, the current position (psim), the current speed ({dot over (psi)}m), the current acceleration ({umlaut over (psi)}m) any of the dynamic parameters, the control error torque (&tgr;err) of the servo, the reference value for the acceleration ({umlaut over (psi)}ref) and the torque signal from the servo (&tgr;mr). The alarm value is compared with the alarm limit and an alarm signal (ALARM) is generated in dependence on the comparison.
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公开(公告)号：DE60016190D1
公开(公告)日：2004-12-30
申请号：DE60016190
申请日：2000-04-03
Applicant: ABB AB VAESTERAAS
Inventor： RAMSTROEM KARL-GUSTAV , BROG RDH TORGNY
Abstract: An equipment for controlling an industrial robot, which robot has a plurality of rotation and/or translation axles (ax 1-6), comprising a motor (15) at each of said axles for generating desired movements of the arms and/or the wrist, of which the robot is constituted, a sensor at each of the axles for measuring axle angle and/or axle position, a servo (9) for each of the axles for controlling the motors based on measurement values from the sensors, and a path generator (8) for generating at least one reference (phiref, phiref, tauffw) for each of the servos (9). The equipment comprises an apparatus (1+2+3+4+5+6+7+parts of 8+18A+18B) at least one of the axles, which apparatus comprises a first device (18A) for calculation of the expected interference moment value (taudistexp) of said axle when the movable parts of the robot is not exposed to any external forces by interaction with the operator (64) or other things in the surroundings of the robot, and a second device (18B) for comparing this expected interference moment value (taudistexp) with values of the moment reference (taumr) of the servo (9) and/or with values of the moment (taum) of the motor and/or with values of the moment of the axle (14) and for forming, based on this comparison, a signal (taucontrol) for controlling the path generator (8). A method for programming/adjusting the movement of a robot is also included.
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公开(公告)号：DE60016190T2
公开(公告)日：2005-12-22
申请号：DE60016190
申请日：2000-04-03
Applicant: ABB AB VAESTERAAS
Inventor： RAMSTROEM KARL-GUSTAV , BROG RDH TORGNY
Abstract: An equipment for controlling an industrial robot, which robot has a plurality of rotation and/or translation axles (ax 1-6), comprising a motor (15) at each of said axles for generating desired movements of the arms and/or the wrist, of which the robot is constituted, a sensor at each of the axles for measuring axle angle and/or axle position, a servo (9) for each of the axles for controlling the motors based on measurement values from the sensors, and a path generator (8) for generating at least one reference (phiref, phiref, tauffw) for each of the servos (9). The equipment comprises an apparatus (1+2+3+4+5+6+7+parts of 8+18A+18B) at least one of the axles, which apparatus comprises a first device (18A) for calculation of the expected interference moment value (taudistexp) of said axle when the movable parts of the robot is not exposed to any external forces by interaction with the operator (64) or other things in the surroundings of the robot, and a second device (18B) for comparing this expected interference moment value (taudistexp) with values of the moment reference (taumr) of the servo (9) and/or with values of the moment (taum) of the motor and/or with values of the moment of the axle (14) and for forming, based on this comparison, a signal (taucontrol) for controlling the path generator (8). A method for programming/adjusting the movement of a robot is also included.
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