公开(公告)号：US20240300101A1

公开(公告)日：2024-09-12

申请号：US17754907

申请日：2019-10-23

Applicant: ABB SCHWEIZ AG

Inventor： Changnian Qian ,  Bojun Ma ,  Wengui Pan

IPC: B25J9/16 ,  G05B19/4155

CPC classification number: B25J9/1633 ,  G05B19/4155 ,  G05B2219/40269

Abstract: Embodiments of the present disclosure provide a method and a controller of controlling a robot. The method comprising detecting a pattern of a series of external forces applied on a portion of at least one arm link of the robot; comparing the pattern with a predetermined pattern associated with the portion; and in accordance with a determination that the detected pattern matches the predetermined pattern, controlling the robot to perform an action corresponding to the predetermined pattern. By introducing a pattern of a series of external forces applied on a robot to control the robot, the control of the robot can be done more intuitively. In this way, some intermediate steps such as conversion of view angle and instructions required to use the HMI-based methods are omitted, thereby improving efficiency or reliability of the robot.

公开(公告)号：US11577400B2

公开(公告)日：2023-02-14

申请号：US17034162

申请日：2020-09-28

Applicant: ABB Schweiz AG

Inventor： Changnian Qian ,  Yanjun Wang ,  Bojun Ma

IPC: B25J9/16 ,  B25J9/10 ,  B25J13/08

Abstract: Embodiments of the present disclosure provide methods for managing a robot system. In one method, orientations for links in the robot system may be obtained when the links are arranged in at least one posture, here each of the orientations indicates a direction pointed by one of the links. At least one image of an object placed in the robot system may be obtained from a vision device equipped on one of the links. Based on the orientations and the at least one image, a first mapping may be determined between a vision coordinate system of the vision device and a link coordination system of the link. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for managing a robot system. The vision device may be calibrated by the first mapping and may be used to manage operations of the robot system.

公开(公告)号：US20210008724A1

公开(公告)日：2021-01-14

申请号：US17034162

申请日：2020-09-28

Applicant: ABB Schweiz AG

Inventor： Changnian Qian ,  Yanjun Wang ,  Bojun Ma

IPC: B25J9/16 ,  B25J13/08 ,  B25J9/10

Abstract: Embodiments of the present disclosure provide methods for managing a robot system. In the method, orientations for links in the robot system may be obtained when the links are arranged in at least one posture, here each of the orientations indicates a direction pointed by one of the links. At least one image of an object placed in the robot system may be obtained from a vision device equipped on one of the links. Based on the orientations and the at least one image, a first mapping may be determined between a vision coordinate system of the vision device and a link coordination system of the link. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for managing a robot system. The vision device may be calibrated by the first mapping and may be used to manage operations of the robot system.