公开(公告)号：US20190143520A1

公开(公告)日：2019-05-16

申请号：US16302950

申请日：2016-05-20

Applicant: ABB Schweiz AG

Inventor： Anders Lager ,  Raoul Audibert

IPC: B25J9/16 ,  G05B19/418

Abstract: An arrangement for handling objects on an object transporting device includes an industrial robot and an object handling control device. The device estimates candidate handling positions (OP1, OP2, OP3, OP4, OP5, OP6, OP7) for at least one candidate object based on a first assumption; determines for each candidate handling position whether it lies within a working volume (wv1) of the robot; selects one of the candidate positions (OP1) at a first decision instant, the selection being at least partially based on the result of the determining; and handles an object at an actual handling position corresponding to the selected candidate handling position, the handling being performed after a usage time of the robot, the usage time including the time for moving the robot from the robot position at the first decision instant to the actual handling position, and the time for handling the object.

公开(公告)号：US11230006B2

公开(公告)日：2022-01-25

申请号：US16302950

申请日：2016-05-20

Applicant: ABB Schweiz AG

Inventor： Anders Lager ,  Raoul Audibert

IPC: B25J9/16 ,  G05B19/418

Abstract: An arrangement for handling objects on an object transporting device includes an industrial robot and an object handling control device. The device estimates candidate handling positions (OP1, OP2, OP3, OP4, OP5, OP6, OP7) for at least one candidate object based on a first assumption; determines for each candidate handling position whether it lies within a working volume (wv1) of the robot; selects one of the candidate positions (OP1) at a first decision instant, the selection being at least partially based on the result of the determining; and handles an object at an actual handling position corresponding to the selected candidate handling position, the handling being performed after a usage time of the robot, the usage time including the time for moving the robot from the robot position at the first decision instant to the actual handling position, and the time for handling the object.