公开(公告)号：EP3224681B1

公开(公告)日：2019-08-28

申请号：EP14811768.2

申请日：2014-11-25

申请人： ABB Schweiz AG

发明人： VILACOBA, Diego ,  WEBER, Peter

IPC分类号： G05B19/418

公开(公告)号：EP3304228A1

公开(公告)日：2018-04-11

申请号：EP15727620.5

申请日：2015-06-01

申请人： ABB Schweiz AG

发明人： DAI, Fan ,  VILACOBA, Diego

IPC分类号： G05B19/418 ,  B25J9/16

CPC分类号： B25J9/1682 ,  G05B19/41825 ,  G05B2219/34391 ,  G05B2219/39105 ,  G05B2219/39362 ,  Y02P90/087

摘要： The invention is related to a robot system (30) for synchronizing the movement of a robot arm (32) to a master device (40,42,44), wherein the system comprises a master device (40,42,44), a robot arm (32) with a moveable tip (34) and at least two degrees of freedom in movement and a robot controller (36) which controls the movement of the tip (34) of the robot arm (32) along a predetermined movement path (38, 68, 86) between a start- (70) and an end- (72) position. The robot controller (36) comprises input means (50) for a control signal (52, 62) for values between a first (64) and a second (66) limit, wherein the control signal (52, 62)is generated from source means (48) of the master device (40,42,44) and describes consecutive positions of a movement axis (46,90) of the master device (40,42,44). The robot controller (36) assigns each value of the control signal (52, 62) to a related position of the tip (34) of the robot arm (32) along the predetermined movement path (38, 68, 86) and controls the movement of the tip (34) of the robot arm (32) along the predetermined movement path (38, 68, 86) dependent on the respective values of the control signal (52, 62). While synchronizing the movement of the robot arm with an external axis, a sensor or control device is permanently providing the actual position of the axis to be synchronized with the robot controller, which determines, whether there is a deviation from the desired synchronized state or not.

公开(公告)号：EP3224681A1

公开(公告)日：2017-10-04

申请号：EP14811768.2

申请日：2014-11-25

申请人： ABB Schweiz AG

发明人： VILACOBA, Diego ,  WEBER, Peter

IPC分类号： G05B19/418

CPC分类号： G05B19/41885 ,  Y02P90/16 ,  Y02P90/26

摘要： The invention is related to a system (10, 40) and a method for commissioning of production means, e. g. a robot, comprising a computing unit (20) with a 3D simulation software application running thereon, a mobile vision device (22, 28) comprising two independent screens (24) and at least one motion sensor (26), an interaction device (30, 32), wherein the simulation software application is foreseen to provide a virtual workspace (18, 50), to provide a configurable model of at least one animated prototype of production means which is placed within the virtual workspace (18, 50), to provide a model of an animated person (16), to place and animate the model of the person (16) in the virtual workspace (18, 50) according to data of at least the motion sensor (26) and to continuously calculate image data corresponding to the perspective of the animated persons (16) binocular view and to transmit them to the mobile vision device (22, 26) so that they are continuously displayed on the two independent screens (24). The model of the animated prototype is configurable by interaction with the model of the animated person respectively the interaction device. The aim of the invention is facilitating commissioning also with respect to ergonomic aspects.

摘要翻译： 本发明涉及一种系统（10,40）和一种用于调试生产工具的方法， G。 机器人，其包括具有在其上运行的3D模拟软件应用的计算单元（20），包括两个独立屏幕（24）和至少一个运动传感器（26）的移动视觉设备（22,28），交互设备（30 ，32），其中所述模拟软件应用程序被预见为提供虚拟工作空间（18,50），以提供放置在所述虚拟工作空间（18,50）内的至少一个制作装置的动画原型的可配置模型，以 提供动画人物（16）的模型，以根据至少所述运动传感器（26）的数据在所述虚拟工作空间（18,50）中放置并动画所述人物（16）的模型并且连续地计算图像数据 对应于动画人物（16）双目视角的视角，并将它们传输到移动视觉装置（22,26），使得它们连续地显示在两个独立屏幕（24）上。 动画原型的模型可以通过与动画人员和交互设备的模型交互来配置。 本发明的目的在于便于人机工程学方面的调试。