公开(公告)号：US20200376666A1

公开(公告)日：2020-12-03

申请号：US16999084

申请日：2020-08-21

Applicant: ABB Schweiz AG

Inventor： Nolwenn Briquet-Kerestedjian ,  Hao Ding ,  Rene Kirsten ,  Bjoern Matthias ,  Pedro Rodriguez ,  Arne Wahrburg

IPC: B25J9/16 ,  B25J13/08

Abstract: A robot system includes: a robot arm having a plurality of links and joints by which one of the links is connected to another; sensors for determining, for any one of the joints, an angular velocity of the joint and a torque to which the joint is subject; a neural network connected to the sensors, the neural network receiving therefrom angular velocity and torque data, the neural network being trained to distinguish, based on the angular velocity and torque data, between a normal operation condition of the robot arm, a condition in which the robot arm collides with an outside object, and a condition where a person deliberately interacts with the robot arm; and a controller for controlling motion of the robot arm, a mode of operation of which is variable depending on an operation condition signal output by the neural network. One operation mode is a leadthrough mode.