公开(公告)号：US20240367320A1

公开(公告)日：2024-11-07

申请号：US18773977

申请日：2024-07-16

Applicant: ABB Schweiz AG

Inventor： Arne Wahrburg ,  Nuo Li ,  Björn Matthias ,  René Kirsten ,  Roger Mellander ,  Debora Clever ,  Christoph Byner ,  Harald Staab ,  Silke Klose

IPC: B25J9/16

Abstract: A method for implementing a safety configuration for a manipulator comprising an end effector comprises: a) reading an action instruction from a manipulator control program, the instruction defining at least one of a path to be followed by the end effector, a target position to be reached by the end effector, a target pose to be assumed by the end effector and an action to be carried out by a tool wielded by the end effector; b) reading at least one constraint instruction from the manipulator control program, the constraint instruction defining a constraint to be observed while carrying out an action instruction; and c) carrying out the action instruction read in step a) while respecting the constraint defined in the at least one constraint instruction, or transferring the manipulator into a safety mode if violation of the at least one constraint is detected while carrying out the action instruction.

公开(公告)号：US20230138217A1

公开(公告)日：2023-05-04

申请号：US18083687

申请日：2022-12-19

Applicant: ABB Schweiz AG

Inventor： Christoph Byner ,  Björn Matthias ,  Harald Staab ,  Richard Roberts

IPC: B25J9/16 ,  B25J13/08

Abstract: A robot comprises at least one articulate arm having members including a base, an end effector and a plurality of links, wherein each link is movably connected to two others of said members by respective joints, at least one sensor for detecting an external force acting on any one of the members, and a controller for controlling movements of the joints, so as to move the end effector along a pre-programmed path. In case of the sensor detecting an external force, the controller is adapted to adopt a first release strategy for escaping from the external force, to evaluate whether the first strategy is successful, and if not, to adopt a second release strategy.

公开(公告)号：US20240253254A1

公开(公告)日：2024-08-01

申请号：US18635146

申请日：2024-04-15

Applicant: ABB Schweiz AG

Inventor： Harald Staab ,  Björn Matthias ,  Nima Enayati ,  Fan Dai

IPC: B25J19/02 ,  B25J9/16 ,  G06V40/10

CPC classification number: B25J19/023 ,  B25J9/1674 ,  B25J9/1697 ,  G06V40/10

Abstract: A robotic system includes a moveable component, a controller, and an environment sensor for monitoring at least a region of the operating range, the environment sensor comprising a camera configured to deliver a 2D image of a field of view of the camera and a TOF device for measuring a distance between the environment sensor and an object in the field of view based on propagation time of a polling signal from the TOF device to the object and back; wherein an optical element for redirecting the field of view to the region is provided in a light path between the region and the environment sensor.