公开(公告)号：US20240083028A1

公开(公告)日：2024-03-14

申请号：US18263911

申请日：2021-02-11

Applicant: ABB Schweiz AG

Inventor： Markus Enberg ,  Hans Andersson ,  Mikael Norrlöf ,  Jakob Weström

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1638

Abstract: A method of controlling a manipulator of an industrial robot having a plurality of joints, the method including providing a candidate trajectory for the manipulator; determining at least one position dependent load value representative of at least one position dependent load acting on the manipulator for the candidate trajectory; modifying the candidate trajectory based on the at least one position dependent load value to provide a modified trajectory; and executing the modified trajectory by the manipulator. A control system for controlling a manipulator of an industrial robot having a plurality of joints, and an industrial robot including a manipulator and a control system, are also provided.

公开(公告)号：US20220347868A1

公开(公告)日：2022-11-03

申请号：US17753720

申请日：2019-10-03

Applicant: ABB Schweiz AG

Inventor： Stefan Danielsson ,  Adam Bovin ,  Daniel Lundbäck ,  Tommy Thors ,  Jakob Weström

IPC: B25J17/02 ,  B25J9/10 ,  B25J19/00

Abstract: A wrist device for an industrial robot, the wrist device including a wrist housing; a first member; a second member; a first pinion rotatable about a first pinion axis; a first crown wheel for driving the first member, the first crown wheel meshing with the first pinion; a second pinion rotatable about a second pinion axis; a second crown wheel for driving the second member, the second crown wheel meshing with the second pinion; and an integral pinion housing fixedly attached to the wrist housing, the pinion housing supporting the first pinion for rotation about the first pinion axis and supporting the second pinion for rotation about the second pinion axis. An industrial robot including a wrist device, and a method of assembling a wrist device for an industrial robot, are also provided.