公开(公告)号：US11364630B2

公开(公告)日：2022-06-21

申请号：US16482600

申请日：2017-02-17

Applicant: ABB Schweiz AG

Inventor： Adam Henriksson ,  Alvaro Aranda Munoz ,  Elina Vartiainen ,  Jonatan Blom ,  Maria Ralph

IPC: B25J9/16 ,  G05B19/423

Abstract: An industrial robot having a manipulator and a robot controller configured to control the motions of the manipulator. The robot controller is configured during lead-through programming of the robot to compare a robot position or a robot orientation (TCP) with at least one virtual position or virtual orientation defined in space, and to actively control the motions of the robot in relation to the at least one virtual position or virtual orientation when the difference between the robot position or robot orientation and the least one virtual position or virtual orientation is smaller than an offset value.

公开(公告)号：US10518405B2

公开(公告)日：2019-12-31

申请号：US16313665

申请日：2016-06-29

Applicant: ABB Schweiz AG

Inventor： Adam Henriksson ,  Jonatan Blom ,  Susanne Timsjö

IPC: B25J13/00 ,  B25J9/00 ,  B25J13/06 ,  B25J13/08

Abstract: An industrial robot system including a dual arm robot having two arms independently movable in relation to each other, and a hand-held control device for controlling the robot and provided with a visual display unit for displaying information about the arms. The control device is provided with a measuring device for measuring the orientation of the control device, and the control device is configured to display information about one of the arms in a first area on the display unit and to display information about the other arm in a second area on the display unit, and to change the positions of the first and second areas in dependence on the orientation of the control device in relation to the robot so that the positions of the first and second area on the display unit reflects the orientation of the control device in relation to the positions of the arms.

公开(公告)号：US20190337148A1

公开(公告)日：2019-11-07

申请号：US16313665

申请日：2016-06-29

Applicant: ABB Schweiz AG

Inventor： Adam Henriksson ,  Jonatan Blom ,  Susanne TIMSJÖ

IPC: B25J9/00 ,  B25J13/08 ,  B25J13/06

Abstract: An industrial robot system including a dual arm robot having two arms independently movable in relation to each other, and a hand-held control device for controlling the robot and provided with a visual display unit for displaying information about the arms. The control device is provided with a measuring device for measuring the orientation of the control device, and the control device is configured to display information about one of the arms in a first area on the display unit and to display information about the other arm in a second area on the display unit, and to change the positions of the first and second areas in dependence on the orientation of the control device in relation to the robot so that the positions of the first and second area on the display unit reflects the orientation of the control device in relation to the positions of the arms.