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.