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    System for optimizing robot performance
    3.
    发明授权
    System for optimizing robot performance 有权

    公开(公告)号：US12053891B2

    公开(公告)日：2024-08-06

    申请号：US17593970

    申请日：2019-04-05

    Applicant: ABB Schweiz AG

    Inventor： Markus Enberg ,  Tomas Groth

    IPC: B25J9/16 ,  B23C1/00 ,  B60C25/05

    CPC classification number: B25J9/1671 ,  B23C1/005 ,  B60C25/0587

    Abstract: A system and a method, for assisting a user in programming a robot. Storage circuitry includes predefined possible values for a physical condition of at least two joints, the values being subdivided into two or more ranges. Processing circuitry is arranged to acquire a first path of the Tool Centre Point (TCP), receive, for each of a plurality of points of the first path and for the joints, a value associated with the physical condition at the respective points, determine which of the ranges the value is associated with, generate at least one additional path, associate each of the at least two joints to a respective path, and send instructions to a display, to illustrate the first path and the additional path, together with the information of which range the values are associated with at the plurality of points of the paths.

    SAFETY FUNCTIONS IN AN INDUSTRIAL ROBOT
    6.
    发明申请
    SAFETY FUNCTIONS IN AN INDUSTRIAL ROBOT 有权

    公开(公告)号：US20250108510A1

    公开(公告)日：2025-04-03

    申请号：US18863780

    申请日：2022-05-13

    Applicant: ABB Schweiz AG

    Inventor： Jonas Haulin ,  Tomas Groth ,  Stefan Romberg ,  Richard Roberts ,  Tobias Berninger

    IPC: B25J9/16 ,  B25J19/00

    Abstract: A method of controlling an industrial robot, including a robot controller, a programming interface, which is separate from the robot controller, and a robot manipulator with a plurality of actuators. The method includes: receiving a first release signal via a first safe input means; receiving actuator-selection data, which indicates one or more of the actuators, via an arbitrary input means at the programming interface; receiving a second release signal via a second safe input means at the programming interface after having received the actuator-selection data; and, in response to determining that the first and second release signals are still received, causing the actuators indicated by the actuator-selection data to enter a movement-without-drive-power mode.

    METHOD OF DETERMINING A JOINT TORQUE IN A JOINT OF AN ARTICULATED INDUSTRIAL ROBOT
    7.
    发明申请
    METHOD OF DETERMINING A JOINT TORQUE IN A JOINT OF AN ARTICULATED INDUSTRIAL ROBOT 审中-公开

    公开(公告)号：US20200122337A1

    公开(公告)日：2020-04-23

    申请号：US16720019

    申请日：2019-12-19

    Applicant: ABB Schweiz AG

    Inventor： Bjoern Matthias ,  Hao Ding ,  Roger Mellander ,  Tomas Groth

    IPC: B25J13/08 ,  B25J9/16 ,  B25J9/02 ,  H02P29/40

    Abstract: A method of determining a joint torque in a joint of an articulated industrial robot, the robot having a first arm and a second arm which are coupled to each other by the joint and which are movable relative to each other by an electric drive unit coupled to the first and second arm, includes: controlling the electric drive unit by an electronic control device; assigning a measuring device to the electric drive unit, the measuring device measuring an electric current supplied to the drive unit; determining an actual value of the torque which is applied to the second arm from the measured electric current; and comparing, using the electronic control device, the determined actual torque value with a predetermined desired torque value for the joint.

    METHOD FOR CONTROLLING MOVEMENT OF A ROBOT
    9.
    发明申请
    METHOD FOR CONTROLLING MOVEMENT OF A ROBOT 有权

    公开(公告)号：US20210162598A1

    公开(公告)日：2021-06-03

    申请号：US17170911

    申请日：2021-02-09

    Applicant: ABB Schweiz AG

    Inventor： Tomas Groth ,  Arne Wahrburg

    IPC: B25J9/16 ,  B25J9/06

    Abstract: A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (∥{dot over (x)}refk−J{dot over (q)}refk∥Wx) between the target speed vector ({dot over (x)}ref) and an actual speed vector ({dot over (x)}act) calculated from actual rotation speeds of the joints; and ii) a rate of change ( 1 T S   q . ref k - q . ref k - 1  W a ) of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}ref) determined in step (b) as target rotation speeds of the joints.

    Method of determining a joint torque in a joint of an articulated industrial robot
    10.
    发明授权
    Method of determining a joint torque in a joint of an articulated industrial robot 有权

    公开(公告)号：US10821610B2

    公开(公告)日：2020-11-03

    申请号：US16720019

    申请日：2019-12-19

    Applicant: ABB Schweiz AG

    Inventor： Bjoern Matthias ,  Hao Ding ,  Roger Mellander ,  Tomas Groth

    IPC: B25J13/00 ,  B25J13/08 ,  H02P29/40 ,  B25J9/02 ,  B25J9/16

    Abstract: A method of determining a joint torque in a joint of an articulated industrial robot, the robot having a first arm and a second arm which are coupled to each other by the joint and which are movable relative to each other by an electric drive unit coupled to the first and second arm, includes: controlling the electric drive unit by an electronic control device; assigning a measuring device to the electric drive unit, the measuring device measuring an electric current supplied to the drive unit; determining an actual value of the torque which is applied to the second arm from the measured electric current; and comparing, using the electronic control device, the determined actual torque value with a predetermined desired torque value for the joint.

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