公开(公告)号：US20250065499A1

公开(公告)日：2025-02-27

申请号：US18948695

申请日：2024-11-15

Applicant: ABB Schweiz AG

Inventor： Arne Wahrburg ,  Richard Roberts ,  Stig Moberg

IPC: B25J9/16

Abstract: A method for reducing kinematic error in a joint includes providing an acceleration sensor; selecting a trajectory to be followed by the acceleration sensor; estimating expected acceleration values the sensor will experience along the trajectory; outputting initial commands for moving the sensor along the trajectory; obtaining corrected commands by adding to a parameter specified in an initial command a kinematic error correction and inputting the corrected commands into a joint controller; recording acceleration values to which the sensor is subject while moving according to the corrected commands; judging whether a deviation between the expected acceleration values and the recorded acceleration values exceeds a predetermined threshold, and when the deviation is judged to exceed the threshold, modifying the kinematic error correction so as to reduce the deviation.

公开(公告)号：US20250070698A1

公开(公告)日：2025-02-27

申请号：US18948884

申请日：2024-11-15

Applicant: ABB Schweiz AG

Inventor： Arne Wahrburg ,  Richard Roberts ,  Mikael Norrlöf ,  Stig Moberg

IPC: H02P21/05 ,  B25J9/16 ,  H02P21/18

Abstract: A method includes providing a kinematic correction, outputting a first drive control signal specifying a motor speed having a first kinematic correction output based on a first parameter vector; extracting a frequency component and determining a first feedback vector; outputting to the motor a second drive control signal specifying a motor speed as a sum of the standard speed and a second kinematic correction output based on a second parameter vector; extracting a frequency component and determining a second feedback vector defining a second feedback amplitude and a second feedback phase; subtracting the first feedback vector from the second feedback vector to obtain a feedback difference vector; transforming the feedback difference vector into a difference; applying the transformation to the second feedback vector to obtain a third parameter vector; and programming the kinematic correction generator using the third parameter vector.

公开(公告)号：US09616565B2

公开(公告)日：2017-04-11

申请号：US14570806

申请日：2014-12-15

Applicant: ABB Schweiz AG

Inventor： Ingvar Jonsson ,  Stig Moberg ,  Sven Hanssen

IPC: G06F19/00 ,  B25J9/16 ,  G05B13/04

CPC classification number: B25J9/1605 ,  B25J9/1653 ,  G05B13/04 ,  G05B2219/40527 ,  Y10S901/02

Abstract: A method, robot arrangement and computer program product for tuning a dynamical model of an industrial robot on a foundation. The parameter determining device includes a model memory with a first dynamical model of the robot, the first dynamical model including first model parameters representing dynamical properties of the robot; and a second dynamical model of a foundation to which the robot is to be attached, the second dynamical model including second model parameters representing dynamical properties of the foundation, and a parameter adjusting unit that obtains information about dynamical properties of the foundation by ordering the actuator to move the robot and by receiving, from the detector, measurements of at least one property affected by the movement; and set at least one of the second model parameters on the basis of the dynamical properties of the foundation.

公开(公告)号：US10331107B2

公开(公告)日：2019-06-25

申请号：US15301553

申请日：2014-04-22

Applicant: ABB SCHWEIZ AG

Inventor： Stig Moberg

IPC: G05B19/404 ,  B25J9/16 ,  B25J9/10

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).

公开(公告)号：US20250065498A1

公开(公告)日：2025-02-27

申请号：US18948710

申请日：2024-11-15

Applicant: ABB Schweiz AG

Inventor： Arne Wahrburg ,  Richard Roberts ,  Stig Moberg ,  Nima Enayati

IPC: B25J9/16

Abstract: A method includes determining a movement of a robot arm in which a joint while being rotated from a start angle to an end angle, is subject to a constant gravity-induced torque; controlling execution of the movement, and, in the movement, controlling the joint to rotate from the start angle to the end angle at a constant speed; detecting speed fluctuations of the joint while it is being rotated from the start angle to the end angle; and estimating the kinematic error based on the speed fluctuations.

公开(公告)号：US10272571B2

公开(公告)日：2019-04-30

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: G01C21/00 ,  B25J9/16 ,  B25J17/00

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.