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    METHOD AND SYSTEM FOR ROBOTIC ADAPTIVE PRODUCTION
    2.
    发明申请
    METHOD AND SYSTEM FOR ROBOTIC ADAPTIVE PRODUCTION 审中-公开
    用于机器人自适应生产的方法和系统

    公开(公告)号：US20160346928A1

    公开(公告)日：2016-12-01

    申请号：US15169517

    申请日：2016-05-31

    Applicant: ABB Technology AG

    Inventor： George Q. Zhang ,  David P. Gravel ,  Soenke Kock ,  Thomas A. Fuhlbrigge ,  Heping Chen ,  Sangeun Choi ,  Arnold Bell ,  Biao Zhang

    IPC: B25J9/16

    Abstract: A method for robotic adaptive production includes modifying program instructions online while performing production activities in response to detecting a change in the production environment. A robotic adaptive production method includes modifying program instructions online while performing production activities to minimize a production task cycle time or improve a production task quality. A robotic adaptive production method includes estimating a relationship between a control parameter and a sensor input; and modifying the control parameter online to achieve an updated parameter based on the estimating. A robotic adaptive production method includes receiving sensor input relating to robotic performance during the performance of production tasks and online optimizing a process parameter based on robotic performance during the performance of the production tasks. A robotic adaptive production method includes determining the position and/or orientation of a feature based on a learned position and/or orientation of another feature and on a geometric relationship.

    Abstract translation: 一种用于机器人自适应生产的方法包括在响应于检测生产环境的变化而在执行生产活动的同时在线修改程序指令。 机器人自适应生产方法包括在执行生产活动的同时在线修改程序指令以最小化生产任务周期时间或提高生产任务质量。 机器人自适应生产方法包括估计控制参数和传感器输入之间的关系; 并且在线修改控制参数以基于估计来实现更新的参数。 机器人自适应生产方法包括在执行生产任务期间接收与机器人性能相关的传感器输入，并且在执行生产任务期间基于机器人性能在线优化过程参数。 机器人自适应生产方法包括基于学习的位置和/或另一特征的取向以及几何关系确定特征的位置和/或取向。

    COORDINATED CONTROL OF MULTI-TERMINAL HVDC SYSTEMS
    3.
    发明申请
    COORDINATED CONTROL OF MULTI-TERMINAL HVDC SYSTEMS 审中-公开
    多端HVDC系统的协调控制

    公开(公告)号：US20160254669A1

    公开(公告)日：2016-09-01

    申请号：US15153892

    申请日：2016-05-13

    Applicant: ABB Technology AG

    Inventor： Biao Zhang ,  Remus Boca ,  Jeremy Newkirk ,  Thomas A. Fuhlbrigge ,  George Q. Zhang ,  Xiongzi Li

    IPC: H02J3/36 ,  H02M5/458

    CPC classification number: H02J3/36 ,  B29C64/106 ,  B29C64/20 ,  B33Y30/00 ,  G05B2219/39156 ,  G05B2219/49023 ,  H02M5/458

    Abstract: A robotic 3D printing system has a six degree of freedom (DOF) robot that holds the platform on which the 3D part is built on. The system uses the dexterity of the 6 DOF robot to move and rotate the platform relative to the 3D printing head, which deposits the material on the platform. The system allows the part build in 3D directly with a simple printing head and depositing the material along the gravity direction. The 3D printing head can be fixed relative to robot base, or moved in the X-Y plane with 2 or 3 DOF, or held by another robot or robots. The robot movement can be calibrated to improve the accuracy and efficiency for high precision 3D part printing.

    Abstract translation: 机器人3D打印系统具有六自由度（DOF）机器人，其保持建立3D部件的平台。 该系统使用6自由度机器人的灵活性来移动和旋转相对于3D打印头的平台，3D打印头将材料沉积在平台上。 该系统允许使用简单的打印头直接在3D中构建零件，并沿重力方向沉积材料。 3D打印头可以相对于机器人底座固定，或者在X-Y平面上用2或3 DOF移动，或由另一个机器人或机器人保持。 可以校准机器人运动，以提高高精度3D部件打印的精度和效率。

    FACILITATING ROBOT POSITIONING
    4.
    发明申请
    FACILITATING ROBOT POSITIONING 审中-公开

    公开(公告)号：US20170136626A1

    公开(公告)日：2017-05-18

    申请号：US14941823

    申请日：2015-11-16

    Applicant: ABB Technology AG

    Inventor： Jianjun Wang ,  Biao Zhang ,  Carlos Martinez ,  Carlos Winsor Morato ,  Remus Boca

    IPC: B25J9/16 ,  G06T7/20 ,  G06T7/00

    CPC classification number: B25J9/1697 ,  B25J9/1692 ,  G06T7/74 ,  G06T2200/04 ,  G06T2207/10028 ,  G06T2207/30244 ,  Y10S901/09

    Abstract: Robot positioning is facilitated by obtaining, for each time of a first sampling schedule, a respective indication of a pose of a camera system of a robot relative to a reference coordinate frame, the respective indication of the pose of the camera system being based on a comparison of multiple three-dimensional images of a scene of an environment, the obtaining providing a plurality of indications of poses of the camera system; obtaining, for each time of a second sampling schedule, a respective indication of a pose of the robot, the obtaining providing a plurality of indications of poses of the robot; and determining, using the plurality of indications of poses of the camera system and the plurality of indications of poses of the robot, an indication of the reference coordinate frame and an indication of a reference point of the camera system relative to pose of the robot.

    Teleoperation Of Machines Having At Least One Actuated Mechanism
    7.
    发明申请
    Teleoperation Of Machines Having At Least One Actuated Mechanism 有权
    具有至少一个致动机构的机器的远程操作

    公开(公告)号：US20150298318A1

    公开(公告)日：2015-10-22

    申请号：US14648995

    申请日：2013-12-03

    Applicant: ABB Technology AG

    Inventor： Jianjun Wang ,  Biao Zhang ,  George Q. Zhang ,  Harald Staab ,  Sangeun Choi ,  Remus Boca ,  Thomas A. Fuhlbrigge ,  Tomas Groth

    IPC: B25J9/16

    CPC classification number: B25J9/1689 ,  B25J9/1676 ,  G05B2219/40117 ,  G05B2219/40131 ,  G05B2219/40168

    Abstract: A machine that has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. An interface at the control station allows an operator to select one or more virtual constraints on operation of the machine when the machine is performing a predetermined function. The virtual constraints are transmitted over the two way real-time communication link to the machine location. The machine has predetermined safety limits that are stored in a controlling device at the machine location. The stored predetermined safety limits are extracted and automatically mapped to the control station using the two way real-time communication link. The controlling device maps the predetermined safety limits to the virtual constraints.

    Abstract translation: 具有至少一个致动机构的机器远离控制站。 双向实时通信链路将机器位置与控制站相连。 控制站处的接口允许操作者在机器执行预定功能时选择一个或多个虚拟操作机器的操作限制。 虚拟约束通过双向实时通信链路传输到机器位置。 机器具有存储在机器位置的控制装置中的预定安全限制。 存储的预定安全限制被提取并且使用双向实时通信链路自动地映射到控制站。 控制装置将预定的安全限制映射到虚拟约束。

    TELEOPERATED INDUSTRIAL ROBOTS
    8.
    发明申请
    TELEOPERATED INDUSTRIAL ROBOTS 有权
    远程工业机器人

    公开(公告)号：US20140156073A1

    公开(公告)日：2014-06-05

    申请号：US14075136

    申请日：2013-11-08

    Applicant: ABB TECHNOLOGY AG

    Inventor： Biao Zhang ,  Harald Staab ,  Jianjun Wang ,  George Q. Zhang ,  Remus Boca ,  Sangeun Choi ,  Thomas A. Fuhlbrigge ,  Soenke Kock ,  Heping Chen

    IPC: B25J9/16

    CPC classification number: B25J9/1689 ,  B25J13/006 ,  G05B2219/33192 ,  G05B2219/33242 ,  G05B2219/34466 ,  G05D1/0022 ,  G05D1/0282 ,  H04L67/125

    Abstract: A teleoperated robot system has a watchdog to determine if the rate of data transmission from a computing device such as a robot controller located in the station used by the operator of the teleoperated robot to the remotely located industrial robot has fallen below a minimum data rate or the time for transmission of data has exceeded a maximum time. Upon the occurrence of either or both of the foregoing, one or more types of corrective action are undertaken to bring the teleoperated robot and the processes performed by the robot.

    Abstract translation: 遥控机器人系统具有看门狗，用于确定来自位于远程操作机器人的操作者所使用的站内的诸如机器人控制器的计算设备到远程工业机器人的数据传输速率是否已经低于最小数据速率或 数据传输的时间已超过最大时间。 在发生前述任何一个或两者时，进行一种或多种类型的纠正动作以使远程操作的机器人和由机器人执行的处理。

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