公开(公告)号：US10606410B2

公开(公告)日：2020-03-31

申请号：US16048773

申请日：2018-07-30

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Liwei Qi ,  Roger Mellander ,  Daniel X. Wappling

IPC: G06F3/041 ,  B25J9/16

Abstract: A method for calibrating a touchscreen panel and the system, the industrial robot and the touchscreen panel using the same. The method including the steps of: (a) defining at least one area of the touchscreen with predetermined accuracy for position measuring; (b) recording a plurality of kinematic parameters of the industrial robot on a plurality of first touch points on the at least one area of the touchscreen; (c) recording a plurality of first position values on the plurality of first touch points on the at least one area of the touchscreen; (d) determining a first calibration data for the kinematic model of the industrial robot using the kinematic parameters and using the first position values; (e) computationally correcting errors of the kinematic model of the industrial robot using the first calibration data; (f) recording a plurality of second position values on a plurality of second touch points on the at least one area with at least a portion of its border extending outwards; (g) determining a second calibration data for the touchscreen using the kinematic parameters and using the second position values; (h) computationally correcting errors of position measurement of the touchscreen using the second calibration data; and iteratively repeating the steps (b) through (h) for different postures of the industrial robot until the iteration step no longer results in significant improvement of the error correction of the kinematic model of the industrial robot.

公开(公告)号：US10528034B2

公开(公告)日：2020-01-07

申请号：US15687201

申请日：2017-08-25

Applicant: ABB Schweiz AG

Inventor： George Q. Zhang ,  Xiongzi Li ,  Daniel X. Wappling ,  Anders Spaak ,  Biao Zhang ,  Remus Boca ,  Thomas A. Fuhlbrigge

IPC: B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  G05B19/4099 ,  B25J9/16 ,  G05B17/02

Abstract: One exemplary embodiment is a method comprising generating robot control code from one or more files including part geometry parameters, material addition parameters, and robot system parameters. The robot control code includes instructions to control position and material output of an additive manufacturing tool adjustable over six degrees of freedom. The method includes simulating execution of the robot control code to generate a virtual part file including virtual part geometry parameters and material addition parameters, analyzing the virtual part geometry parameters and material addition parameters relative to the one or more files, and executing the robot control code with the controller to produce the part with robot system if the analyzing indicates that the virtual part satisfies one or more conditions.

公开(公告)号：US20180364866A1

公开(公告)日：2018-12-20

申请号：US16048773

申请日：2018-07-30

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Liwei Qi ,  Roger Mellander ,  Daniel X. Wappling

IPC: G06F3/041 ,  B25J9/16

Abstract: A method for calibrating a touchscreen panel and the system, the industrial robot and the touchscreen panel using the same. The method including the steps of: (a) defining at least one area of the touchscreen with predetermined accuracy for position measuring; (b) recording a plurality of kinematic parameters of the industrial robot on a plurality of first touch points on the at least one area of the touchscreen; (c) recording a plurality of first position values on the plurality of first touch points on the at least one area of the touchscreen; (d) determining a first calibration data for the kinematic model of the industrial robot using the kinematic parameters and using the first position values; (e) computationally correcting errors of the kinematic model of the industrial robot using the first calibration data; (f) recording a plurality of second position values on a plurality of second touch points on the at least one area with at least a portion of its border extending outwards; (g) determining a second calibration data for the touchscreen using the kinematic parameters and using the second position values; (h) computationally correcting errors of position measurement of the touchscreen using the second calibration data; and iteratively repeating the steps (b) through (h) for different postures of the industrial robot until the iteration step no longer results in significant improvement of the error correction of the kinematic model of the industrial robot.

公开(公告)号：US20170351245A1

公开(公告)日：2017-12-07

申请号：US15687201

申请日：2017-08-25

Applicant: ABB Schweiz AG

Inventor： George Q. Zhang ,  Xiongzi Li ,  Daniel X. Wappling ,  Anders Spaak ,  Biao Zhang ,  Remus Boca ,  Thomas A. Fuhlbrigge

IPC: G05B19/4099 ,  B33Y50/02 ,  B33Y10/00 ,  B25J9/16 ,  B33Y30/00

Abstract: One exemplary embodiment is a method comprising generating robot control code from one or more files including part geometry parameters, material addition parameters, and robot system parameters. The robot control code includes instructions to control position and material output of an additive manufacturing tool adjustable over six degrees of freedom. The method includes simulating execution of the robot control code to generate a virtual part file including virtual part geometry parameters and material addition parameters, analyzing the virtual part geometry parameters and material addition parameters relative to the one or more files, and executing the robot control code with the controller to produce the part with robot system if the analyzing indicates that the virtual part satisfies one or more conditions.