公开(公告)号：WO2022161637A1

公开(公告)日：2022-08-04

申请号：PCT/EP2021/052312

申请日：2021-02-01

Applicant: ABB SCHWEIZ AG

Inventor： SPAMPINATO, Giacomo ,  NORRLÖF, Mikael ,  BJÖRKMAN, Mattias ,  WAHRBURG, Arne ,  ENAYATI, Nima ,  CLEVER, Debora

IPC: B25J9/16 ,  B25J19/06 ,  G02B27/01

Abstract: A method of responsive robot path planning implemented in a robot controller (120), comprising: providing a plurality of potential motion paths (X1,X2,X3,...) of a robot manipulator (110), wherein the potential motion paths are functionally equivalent with regard to at least one initial or final condition, a transportation task and/ or a workpiece processing task; causing an operator interface (130) to visualize the potential motion paths, wherein the operator interface is associated with an operator (190) sharing a workspace (Ω) with the robot manipulator; obtaining operator behavior during the visualization; and selecting at least one preferred motion path based on the operator behavior. A method in an operator interface (130), comprising: obtaining from a robot controller (120) a plurality of potential motion paths (X1,X2,X3,...) of the robot manipulator (110); visualizing the potential motion paths; sensing operator behavior during the visualization; and making the operator behavior available to the robot controller.

公开(公告)号：WO2020035156A1

公开(公告)日：2020-02-20

申请号：PCT/EP2018/073415

申请日：2018-08-31

Applicant: ABB SCHWEIZ AG

Inventor： CLEVER, Debora ,  DAI, Fan

IPC: B25J9/16 ,  G05B19/401

Abstract: A method of programming an industrial robot (1 ), said robot (1 ) having a robot arm (2) with an end-effector (4) mounted thereto which is controlled by a robot control unit (6) to manipulate a workpiece (8) which is arranged in a workplace (10) of said robot (1 ), wherein a target coordinate (1 1 ) system is associated to said workplace (10) and an image (12) of said workplace (10) and said workpiece (8) is taken by an image capturing device (14) and transmitted to a computing device (16) having a human- machine-interface (HMI) to generate control code for controlling said robot (1 ) which is transmitted to said robot control unit (6), wherein an image (12) of said workplace (10) and said workpiece (8) to be manipulated by said robot (1) is captured, said captured image (12) is transferred to said computing device (16) and displayed on a display (18) associated to said computing device (16), said workpiece (8) displayed on said display (18) is marked with a marker-object (17) on said display (18), said marker-object (17) is manipulated in a sequence of at least two subsequent manipulating steps which are associated to robot commands on said display (18) by means of said human-machine- interface (HMI), wherein said sequence of manipulating steps includes positions (P1 to P5) of the marker-object (17) in a coordinate system (19) for displaying said marker- object on said display (18), said positions (P1 to P5) of the marker-object (17) in the sequence of manipulating steps are transformed to positions (P1' to P5') of said workpiece (8) in said target coordinate system (11) and control code for controlling said robot (1) is generated from said transformed positions (P1' to P5') and associated robot commands is characterized by the following steps: Measuring a first distance value (D1) between a reference point (RP) which is located above said workpiece and a first measuring location (L1 ) on said workpiece (8), measuring a second distance value (D2) between said reference point (RP) and a second measuring location (L2) on said workplace (10), determining a workpiece height value (WH) associated to said workpiece (8) as the difference between the measured first distance value (D1) and said measured second distance value (D2) and generating said control code and associated robot commands for controlling said robot (1) on basis of said workpiece height value (WH).

公开(公告)号：WO2022207075A1

公开(公告)日：2022-10-06

申请号：PCT/EP2021/058259

申请日：2021-03-30

Applicant: ABB SCHWEIZ AG ,  WAHRBURG, Arne ,  ENAYATI, Nima ,  CLEVER, Debora ,  NORRLÖF, Mikael ,  BJORKMAN, Mattias ,  SPAMPINATO, Giacomo ,  HAULIN, Jonas

Inventor： WAHRBURG, Arne ,  ENAYATI, Nima ,  CLEVER, Debora ,  NORRLÖF, Mikael ,  BJORKMAN, Mattias ,  SPAMPINATO, Giacomo ,  HAULIN, Jonas

IPC: B25J9/16

Abstract: A method for controlling displacement from an initial pose (A) to a target pose (B) of a robot (1) which is displaceable in a plurality of coordinates, comprises the steps of a) providing a movement command which specifies at least the target pose (B) and an nominal path (C) to be followed from the initial pose to the target pose (S1), b) associating to the command an allowed deviation from the nominal path (S2), and c) identifying a real path (C') which deviates from the nominal path by not more than the allowed deviation (S3-S5, S9) and d) controlling the robot (1) to move along said real path (S11).

公开(公告)号：WO2019057356A1

公开(公告)日：2019-03-28

申请号：PCT/EP2018/066429

申请日：2018-06-20

Applicant: ABB SCHWEIZ AG

Inventor： DAI, Fan ,  CLEVER, Debora ,  FIEDLER, Boris ,  KLÖPPER, Benjamin ,  SCHLAKE, Jan-Christoph ,  DIX, Marcel ,  SUBBIAH, Subanatarajan

IPC: B25J9/16 ,  G05B23/02

Abstract: A method for anomaly detection in an industrial robot, comprising the steps of a) while executing a predetermined movement, recording (S11) a time series of at least one first operating parameter of the robot; b) applying a machine learning model to the time series obtained in step a), and c) use the machine learning model to score the time series obtained in step a), deciding whether it is an anomaly or not.

公开(公告)号：WO2020098962A1

公开(公告)日：2020-05-22

申请号：PCT/EP2018/084140

申请日：2018-12-10

Applicant: ABB SCHWEIZ AG

Inventor： CLEVER, Debora ,  DAI, Fan ,  DIX, Marcel ,  KLÖPPER, Benjamin ,  KOTRIWALA, Arzam Muzaffar ,  RODRIGUEZ, Pablo

IPC: G05B13/02 ,  G05B17/02 ,  B25J9/16 ,  G06N3/00

Abstract: A method for applying machine learning, in particular state based machine learning, to an application, comprising the steps: a) Generating a candidate policy (P) by a learner (20); b) Executing a program (80) in at least one simulated application (51, 52) based on a set of candidate parameters (PC1, PC2) provided based on the candidate policy (P) and a state (S) of the simulated application (51, 52), the execution of the program providing interim results (R1, R2) of tested sets of candidate parameters (PC1, PC2) based on a measured performance information of the execution of the program (80); c) Collecting a predetermined number of interim results (R1, R2) and providing an end result (R) based on a combination of the candidate parameters (PC) and/or the state (S) with the measured performances information by a trainer (30); and d) Generating a new candidate policy (P) by the learner (20) based on the end result (R).

公开(公告)号：WO2020098918A1

公开(公告)日：2020-05-22

申请号：PCT/EP2018/081048

申请日：2018-11-13

Applicant: ABB SCHWEIZ AG

Inventor： CLEVER, Debora ,  DAI, Fan ,  DIX, Marcel ,  KLÖPPER, Benjamin ,  KOTRIWALA, Arzam Muzaffar ,  RODRIGUEZ, Pablo

IPC: B25J9/16 ,  G05B13/02

Abstract: A method for applying machine learning, in particular parameter based machine learning,to an application, comprising the steps: a)Generating a set of candidate parameters (PC) by a learner (20); b)Executing a program (80) in at least one simulated application (51, 52) based on the set of candidate parameters (PC) and providing interim results (R1, R2) of tested sets of candidate parameters (PC1, PC2) based on a measured performance information of the execution of the program (80); c)Collecting a predetermined number of interim results (R1, R2) and providing an end result (R) based on a combination of the candidate parameters (PC) and the measured performances information by a trainer (30); and d)Generating a new set of candidate parameters (PC) by the learner (20) based on the end result (R), for being executed by the unchanged program (80).

公开(公告)号：WO2022199819A1

公开(公告)日：2022-09-29

申请号：PCT/EP2021/057737

申请日：2021-03-25

Applicant: ABB SCHWEIZ AG ,  ENAYATI, Nima ,  WAHRBURG, Arne ,  CLEVER, Debora ,  NORRLÖF, Mikael ,  SPAMPINATO, Giacomo ,  BJORKMAN, Mattias

Inventor： ENAYATI, Nima ,  WAHRBURG, Arne ,  CLEVER, Debora ,  NORRLÖF, Mikael ,  SPAMPINATO, Giacomo ,  BJORKMAN, Mattias

IPC: B25J9/16 ,  G05B19/418

Abstract: A method for trajectory planning in a robotic system comprising at least two robotic units (1, 2, 3) is disclosed. In the method, a state vector of each robotic unit comprises position components Formula (I) and velocity components Fromula (II) and is variable with time as a function of input Formula (III) into said each robotic unit (1, 2, 3) and independently from input into every other robotic unit, and a trajectory which defines the motion of said robotic units from an initial state (X0) to a final state (XTf) is determined by finding the trajectory that minimizes a predetermined cost function (J). The cost function (J) is set (S3) to be a function of the state vectors of all of said at least two robotic units, and is minimized (S4) under a constraint which defines a vector difference between at least the position components Formula (iv) of the state vectors of said at least two robotic units (1, 3; 2, 3) at an instant (f(1), f(2)) of said trajectory.

公开(公告)号：WO2022156892A1

公开(公告)日：2022-07-28

申请号：PCT/EP2021/051288

申请日：2021-01-21

Applicant: ABB SCHWEIZ AG

Inventor： NORRLÖF, Mikael ,  WAHRBURG, Arne ,  CLEVER, Debora ,  ENAYATI, Nima ,  HAULIN, Jonas ,  BJÖRKMAN, Mattias ,  SPAMPINATO, Giacomo

IPC: B25J9/16 ,  B25J13/00

Abstract: A method of handling safety of an industrial robot (14a, 14b) in a workspace (26), the method comprising providing a geometric region (48a-48e) by a monitoring system (12), where the geometric region (48a-48e) is defined in relation to the industrial robot (14a, 14b) and/or in relation to the workspace (26), and where the geometric region (48a-48e) is associated with at least one condition (50a-50e) for being fulfilled by the industrial robot (14a, 14b); communicating the geometric region (48a-48e) from the monitoring system (12) to a robot control system (16) of the industrial robot (14a, 14b); determining a movement (44) of the industrial robot (14a, 14b) by the robot control system (16) based on the geometric region (48a-48e) and the at least one condition (50a-50e); executing the movement (44) by the industrial robot (14a, 14b); and monitoring, by the monitoring system (12), the execution of the movement (44) with respect to the geometric region (48a-48e) and the at least one condition (50a-50e).

公开(公告)号：WO2021259459A1

公开(公告)日：2021-12-30

申请号：PCT/EP2020/067611

申请日：2020-06-24

Applicant: ABB SCHWEIZ AG

Inventor： MATTHIAS, Bjoern ,  BYNER, Christoph ,  CLEVER, Debora ,  KIRSTEN, Rene

IPC: G01L5/00 ,  G01M7/08 ,  G01M99/00 ,  G01L5/22 ,  G01L5/0052 ,  G01L5/226 ,  G01M99/007

Abstract: The invention relates to a system for testing the padding of a robotic manipulator, the system comprising: at least one sensor; a processing unit; and an output unit. The at least one sensor is configured to acquire sensor data of a robotic manipulator. The at least one sensor is configured to provide the sensor data to the processing unit. The processing unit is configured to determine information relating to padding applied to the robotic manipulator, wherein the determination comprises a comparison of the sensor data with reference data. The output unit is configured to output the information relating to the padding applied to the robotic manipulator.

公开(公告)号：WO2021239210A1

公开(公告)日：2021-12-02

申请号：PCT/EP2020/064453

申请日：2020-05-25

Applicant: ABB SCHWEIZ AG

Inventor： DAI, Fan ,  LI, Nuo ,  BREISCH, Sebastian ,  CLEVER, Debora

IPC: B25J19/00 ,  B25J15/00

Abstract: Robot application development system (10), comprising a robot application unit (20), configured for determining a robot application (A) for an industrial robot processing a work piece, wherein the robot application (A) defines the industrial robot (100) in a robot workspace; an input interface (40), configured for receiving robot application information (IA) characterizing the robot application (A); an object data interface (50), configured for receiving work piece information (IW) characterizing the work piece (120); and a gripper finger design unit (30), configured for determining a gripper finger (110) design (G) of a gripper finger (110) of the industrial robot (100); wherein the robot application unit (20) is configured for determining the robot application (A), using the robot application information (IA); wherein the gripper finger design unit (30) is configured for determining the gripper finger design (G), using the work piece information (IW) and the robot application information (IA).