公开(公告)号：US10150214B2

公开(公告)日：2018-12-11

申请号：US15561752

申请日：2015-03-31

Applicant: ABB Schweiz AG

Inventor： Henrik Jerregård ,  Tomas Groth

IPC: B25J9/16 ,  G05B19/423

Abstract: A robot and method for controlling an industrial robot, which has a first robot arm, a second robot arm, a joint defining a kinematic pair between the first and second robot arms, an actuator for generating relative movement between the first and second robot arms, and a robot controller for controlling the movements of the actuator. The method includes the steps of: determining a presence of a first torque indication at the actuator to be interpreted as a first command to the robot controller; repeatedly obtaining an external torque value (τext) to obtain an external torque behavior; comparing the external torque behavior with the first torque indication; and executing a robot function corresponding to the first command upon detecting that the external torque behavior corresponds to the first torque indication. The obtained external torque behavior depends on a reference torque value (τref) obtained from a dynamic model of the robot.