公开(公告)号：WO2008113807A3

公开(公告)日：2008-11-06

申请号：PCT/EP2008053241

申请日：2008-03-18

Applicant: ABB TECHNOLOGY AB ,  BROGAARDH TORGNY

Inventor： BROGAARDH TORGNY

IPC: B25J9/16 ,  G05B19/401 ,  G05B19/4099

CPC classification number: B25J9/1692 ,  B25J9/1697 ,  G05B19/401 ,  G05B19/4083 ,  G05B2219/36404 ,  G05B2219/39008 ,  G05B2219/40387

Abstract: The present invention relates to an apparatus for automatically fine-tuning a robot program for carrying out a material removal process on an object (1) by means of a robot (4). The apparatus comprising a measuring system (3) configured to measure the geometry of the object, and at least one computing device (5) having program code comprising code configured to: control the robot to pick a reference object processed with a desired process result, and move the reference object into the measuring range of the measuring system, receive measurements of the geometry of processed parts of the reference object, control the robot to pick a not processed work object of the same type as the reference object, control the robot to perform the material removal process on the work object in accordance with the programmed robot path, control the robot to move the work object into the measuring range of the measuring system, receive measurements of the geometry of the work object after the removal process, calculate deviations between the geometry of the processed work object and the processed reference object, determine whether the calculated deviations are acceptable, and if the deviations are acceptable store the adjusted robot path, and if the deviations are not acceptable adjust the robot path based on the geometrical deviations and repeat the procedure for a new object.

Abstract translation: 本发明涉及一种用于通过机器人（4）自动微调用于对物体（1）进行材料去除处理的机器人程序的装置。 该装置包括被配置为测量物体的几何形状的测量系统（3），以及具有程序代码的至少一个计算设备（5），该程序代码包括代码，所述代码被配置为：控制所述机器人选择用期望的处理结果处理的参考对象， 将参考对象移动到测量系统的测量范围内，接收参考对象的已处理部件几何尺寸，控制机器人选取与参考对象相同类型的未处理工件，控制机器人 根据编程的机器人路径对工件进行材料去除处理，控制机器人将工件移动到测量系统的测量范围内，在去除过程后接收工件的几何尺寸，计算偏差 在所处理的工件对象的几何和被处理的参考对象之间，确定所计算的偏差是否可接受， f偏差是可接受的，可以存储调整后的机器人路径，如果偏差是不可接受的，则可以根据几何偏差来调整机器人路径并重复新对象的过程。

公开(公告)号：WO2009106407A2

公开(公告)日：2009-09-03

申请号：PCT/EP2009051213

申请日：2009-02-04

Applicant: ABB TECHNOLOGY AB ,  BROGAARDH TORGNY

Inventor： BROGAARDH TORGNY

IPC: B25J13/08 ,  G01L5/16

CPC classification number: B25J13/085 ,  B25J17/0266 ,  G01L5/16

Abstract: The invention relates to a multi-DOF sensor for an industrial robot, which robot has at least two DOF. The multi-DOF sensor is arranged for sensing at least one force and is constituted by a plurality of one-DOF sensors (11, 12). A first end face of each one-DOF sensor (11, 12) is connected to a surface of a first body (31 a, 31 b) and a second end face of each one-DOF sensor (11, 12) is connected to a surface of a second body. The invention also relates to an industrial robot comprising the invented multi-DOF sensor.

Abstract translation: 本发明涉及一种用于工业机器人的多自由度传感器，该机器人具有至少两个DOF。 所述多自由度传感器布置成用于感测至少一个力并且由多个单自由度传感器（11,12）构成。 每个单DOF传感器（11,12）的第一端面连接到第一主体（31a，31b）的表面，并且每个单DOF传感器（11,12）的第二端面连接到 第二体的表面。 本发明还涉及一种包括本发明的多自由度传感器的工业机器人。

公开(公告)号：WO2008113783A3

公开(公告)日：2008-11-13

申请号：PCT/EP2008053162

申请日：2008-03-17

Applicant: ABB TECHNOLOGY AB ,  BROGAARDH TORGNY

Inventor： BROGAARDH TORGNY

IPC: G05B19/401 ,  B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1697 ,  G05B19/401 ,  G05B19/4083 ,  G05B2219/36404 ,  G05B2219/39008 ,  G05B2219/40387

Abstract: The present invention relates to a method and an apparatus for compensating for errors in a certain number of degrees of freedoms in the geometric relation between a work object (1) and a device (2) holding the object. A measurement system including at least one sensor (3) is providing surface measurements on the object. The method comprises measuring a first reference surface (10) of a reference object, calculating the position and orientation of the first reference surface based on the measurements, moving the reference object in a first degree of freedom, measuring on the first reference surface, calculating the position and orientation of the first reference surface after the moving based on the measurements, repeating those steps for at least the same number of degrees of freedom as the number of degrees of freedom in which the object may have errors in relation to the device, performing the same procedure for at least two more reference surfaces (11, 12, 13), calculating the position and orientation changes of all the reference surfaces, and calculating a relationship between the calculated position and orientation changes and corresponding changes of the position and orientation of the object. Using the relationship for compensating for the errors in object position and orientation.

Abstract translation: 本发明涉及一种用于补偿工件（1）与保持物体的装置（2）之间的几何关系中的一定数量的自由度中的误差的方法和装置。 包括至少一个传感器（3）的测量系统在物体上提供表面测量。 该方法包括测量参考对象的第一参考表面（10），基于测量来计算第一参考表面的位置和取向，以第一自由度移动参考对象，在第一参考表面上测量，计算 基于测量在移动之后的第一参考表面的位置和取向，重复与物体相对于该装置有误差的自由度的至少相同数量的自由度的那些步骤， 对至少两个更多的参考表面（11,12,13）执行相同的程序，计算所有参考表面的位置和方向变化，以及计算所计算的位置和取向变化与位置和取向的相应变化之间的关系 的对象。 使用关系来补偿对象位置和方向上的错误。

公开(公告)号：SE0802607L

公开(公告)日：2008-12-18

申请号：SE0802607

申请日：2008-12-18

Applicant: ABB TECHNOLOGY AB

Inventor： NORRLOEF MIKAEL ,  BROGAARDH TORGNY ,  BRANTMARK HAAKAN ,  STRANDBERG MORTEN ,  GROTH TOMAS

公开(公告)号：SE0800640L

公开(公告)日：2008-03-20

申请号：SE0800640

申请日：2008-03-20

Applicant: ABB TECHNOLOGY AB

Inventor： BROGAARDH TORGNY

公开(公告)号：SE0900762L

公开(公告)日：2009-06-23

申请号：SE0900762

申请日：2009-06-08

Applicant: ABB TECHNOLOGY AB

Inventor： BROGAARDH TORGNY