公开(公告)号：US20210260761A1

公开(公告)日：2021-08-26

申请号：US17254275

申请日：2018-07-04

Applicant: ABB Schweiz AG

Inventor： Mikael Norrlöf ,  Markus Enberg ,  Morten Åkerblad ,  Philippe Charles ,  Jan Bronkhorst ,  Ron Nakken ,  Haayo Terpstra

IPC: B25J9/16 ,  G05B19/416

Abstract: A method for controlling an industrial actuator (26), the method comprising defining a movement path (10) as a sequence of a plurality of consecutive movement segments (14), where each movement segment (14) is defined between two points (16); defining at least one blending zone (12, 50, 52) associated with one of the points (16) between two consecutive movement segments (14), wherein the blending zone (12, 50, 52) is defined independently in relation to each of the two consecutive movement segments (14); and executing the movement path (10) comprising the blending zone (12, 50, 52) by the industrial actuator (26). A control system (30) for controlling an industrial actuator (26) and an actuator system (24) comprising an industrial actuator (26), are also provided.