公开(公告)号：US20150306766A1

公开(公告)日：2015-10-29

申请号：US14441349

申请日：2012-11-09

Applicant: ABB TECHNOLOGY LTD

Inventor： Ingvar Jonsson

IPC: B25J9/16

CPC classification number: B25J9/1656 ,  B25J9/1674 ,  G05B2219/36472

Abstract: For controlling a robot in a safe way, a highest voltage required for a desired robot movement is calculated. A voltage level in a DC-bus is set on the basis of the highest voltage, and current is supplied to a motor at a robot axis from the DC-bus. By limiting the voltage level in the DC-bus to correspond to an actual need for a desired robot movement at each instant unnecessary fast robot movements are prevented even in the event that an inverter controlling motor currents would by mistake attempt to drive the motor faster than desired by the operator.

Abstract translation: 为了以安全的方式控制机器人，计算所需机器人移动所需的最高电压。 基于最高电压设定直流母线中的电压电平，电流从直流母线供给到机器人轴上的电动机。 通过限制直流总线中的电压电平对应于在每一时刻对所需机器人运动的实际需要，即使在控制电动机电流的变频器也会错误地尝试驱动电动机的情况下，也避免了快速的机器人运动，速度比 由操作员期望。

公开(公告)号：US20150292909A1

公开(公告)日：2015-10-15

申请号：US14443988

申请日：2012-11-19

Applicant: ABB TECHNOLOGY LTD

Inventor： Ingvar Jonsson

IPC: G01D5/20 ,  G01B7/004

CPC classification number: G01D5/20 ,  G01B7/004 ,  G01D5/204

Abstract: The present invention relates to a resolver positioning system for a robot, which system is connectable to a battery supply (402) and is drivable in a pulsed mode. The system comprising: a resolver (32) arranged to detect an axis position of a robot; a first comparator (80, 81) connected to the resolver for reading of a first resolver value from the resolver, wherein the first comparator comprises means (82-87) to provide two different reference levels for the first resolver value; a second comparator (80, 81) connected to the resolver for reading of a second resolver value from the resolver, wherein the second comparator comprises means (82-87) to provide two different reference levels for the second resolver value; and a controller (20) connected to the first and second comparators, wherein the controller is configured to provide a quadrant evaluation of the axis position from the first and second resolver values.

Abstract translation: 本发明涉及一种用于机器人的旋转变压器定位系统，该系统可连接到电池电源（402）并且可以以脉冲模式驱动。 该系统包括：解算器（32），其布置成检测机器人的轴位置; 连接到所述解算器的第一比较器（80,81），用于从所述解算器读取第一解算器值，其中所述第一比较器包括为所述第一分解器值提供两个不同参考电平的装置（82-87） 连接到所述分解器的第二比较器（80,81），用于从所述解算器读取第二分解器值，其中所述第二比较器包括为所述第二分解器值提供两个不同参考电平的装置（82-87） 以及连接到第一和第二比较器的控制器（20），其中控制器被配置为从第一和第二解算器值提供轴位置的象限评估。