公开(公告)号：US20180117768A1

公开(公告)日：2018-05-03

申请号：US15524992

申请日：2014-11-12

Applicant: ABB Schweiz AG

Inventor： Torgny BROGÅRDH ,  Peter FIXELL ,  Görgen JOHANSSON ,  Hans ANDERSSON ,  Sven Hanssen ,  Stig MOBERG ,  Siim VIILUP ,  Mats OLSSON

IPC: B25J9/16 ,  B25J17/00

CPC classification number: B25J9/1692 ,  B25J17/00 ,  G05B2219/39018 ,  G05B2219/39027 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/25 ,  Y10S901/28

Abstract: An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.

公开(公告)号：US20170108848A1

公开(公告)日：2017-04-20

申请号：US15301553

申请日：2014-04-22

Applicant: ABB Schweiz AG

Inventor： Stig MOBERG

IPC: G05B19/404 ,  B25J9/10

CPC classification number: G05B19/404 ,  B25J9/1005 ,  B25J9/1641 ,  G05B2219/37429 ,  G05B2219/41127 ,  G05B2219/41359 ,  G05B2219/49211

Abstract: A method, device, and computer program product for compensating robot movement deviations caused by a gear box as well as to a robot arrangement including such a device. The device has a drift estimating block configured to obtain motor data ({dot over (q)}r) and motor torque data (τ) related to the motor, determine a measure of the temperature of the gear box based on the motor data ({dot over (q)}r) and motor torque data (τ) and estimate the drift (Δq) based on a drift value of the robot section, the drift value in turn being obtained based on the gearbox temperature measure and a gravitational torque (τgrav) of the motor, and a drift adjusting block (44) configured to adjust a control value (qr) used to control the positioning of the robot based on the estimated drift (Δq).