公开(公告)号：US20240017410A1

公开(公告)日：2024-01-18

申请号：US18473453

申请日：2023-09-25

Applicant: ABB Schweiz AG

Inventor： Nima Enayati ,  Arne Wahrburg ,  Debora Clever ,  Mikael Norrlöf ,  Giacomo Spampinato ,  Mattias Björkman

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1682

Abstract: A method for trajectory planning in a robotic system comprising at least two robotic units includes a state vector of each robotic unit, which comprises position components and velocity components and is variable with time and independently from input into every other robotic unit. A trajectory defines the motion of said robotic units from an initial state to a final state and is determined by finding the trajectory that minimizes a predetermined cost function. The cost function is set to be a function of the state vectors of all robotic units, and is minimized under a constraint which defines a vector difference between at least the position components of the state vectors of said robotic units at an instant of said trajectory.

公开(公告)号：US20240017411A1

公开(公告)日：2024-01-18

申请号：US18475574

申请日：2023-09-27

Applicant: ABB Schweiz AG

Inventor： Arne Wahrburg ,  Nima Enayati ,  Debora Clever ,  Mikael Norrlöf ,  Mattias Björkman ,  Giacomo Spampinato ,  Jonas Haulin

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1664 ,  B25J13/089 ,  B25J9/1653

Abstract: A method for controlling displacement of a robot from an initial pose to a target pose includes providing a movement command, which specifies at least the target pose and an nominal path to be followed from the initial pose to the target pose; associating with the command an allowed deviation from the nominal path; identifying a real path that deviates from the nominal path by no more than the allowed deviation; and controlling the robot to move along said real path.

公开(公告)号：US20240083027A1

公开(公告)日：2024-03-14

申请号：US18262931

申请日：2021-02-01

Applicant: ABB Schweiz AG

Inventor： Giacomo Spampinato ,  Mikael Norrlöf ,  Mattias Björkman ,  Arne Wahrburg ,  Nima Enayati ,  Debora Clever

IPC: B25J9/16 ,  B25J13/06

CPC classification number: B25J9/1664 ,  B25J13/06

Abstract: A method of responsive robot path planning implemented in a robot controller, including: providing a plurality of potential motion paths of a robot manipulator, wherein the potential motion paths are functionally equivalent with regard to at least one initial or final condition, a transportation task and/or a workpiece processing task; causing an operator interface to visualize the potential motion paths, wherein the operator interface is associated with an operator sharing a workspace with the robot manipulator; obtaining operator behavior during the visualization; and selecting at least one preferred motion path based on the operator behavior. A method in an operator interface, including obtaining from a robot controller a plurality of potential motion paths of the robot manipulator; visualizing the potential motion paths; sensing operator behavior during the visualization; and making the operator behavior available to the robot controller.

公开(公告)号：US20240066702A1

公开(公告)日：2024-02-29

申请号：US18261156

申请日：2021-01-21

Applicant: ABB Schweiz AG

Inventor： Mikael Norrlöf ,  Arne Wahrburg ,  Debora Clever ,  Nima Enayati ,  Jonas Haulin ,  Mattias Björkman ,  Giacomo Spampinato

IPC: B25J9/16 ,  B25J13/00 ,  B25J19/06

CPC classification number: B25J9/1674 ,  B25J9/1605 ,  B25J9/1664 ,  B25J13/006 ,  B25J19/06

Abstract: A method of handling safety of an industrial robot in a workspace, the method including providing a geometric region by a monitoring system, where the geometric region is defined in relation to the industrial robot and/or in relation to the workspace, and where the geometric region is associated with at least one condition for being fulfilled by the industrial robot; communicating the geometric region from the monitoring system to a robot control system of the industrial robot; determining a movement of the industrial robot by the robot control system based on the geometric region and the at least one condition; executing the movement by the industrial robot; and monitoring, by the monitoring system, the execution of the movement with respect to the geometric region and the at least one condition.

公开(公告)号：US20210245364A1

公开(公告)日：2021-08-12

申请号：US17049019

申请日：2018-04-25

Applicant: ABB Schweiz AG

Inventor： Stefan Westberg ,  Giacomo Spampinato

IPC: B25J9/16 ,  B25J9/00

Abstract: A method for controlling movement trajectories of a robot, the method including predicting, in an offline mode, values of at least one parameter related to the execution of alternative movement trajectories between a first position of the robot and a second position of the robot; selecting, in the offline mode, a movement trajectory based on the predicted values of the at least one parameter; and executing the selected movement trajectory by the robot. A control system for controlling movement trajectories of a robot is also provided.