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    Visualization Of a Robot Motion Path and Its Use in Robot Path Planning
    12.
    发明公开
    Visualization Of a Robot Motion Path and Its Use in Robot Path Planning 审中-公开

    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.

    Method for controlling movement of a robot
    14.
    发明授权
    Method for controlling movement of a robot 有权

    公开(公告)号：US11717962B2

    公开(公告)日：2023-08-08

    申请号：US17170911

    申请日：2021-02-09

    Applicant: ABB Schweiz AG

    Inventor： Tomas Groth ,  Arne Wahrburg

    IPC: B25J9/16 ,  B25J9/06

    CPC classification number: B25J9/1651 ,  B25J9/06 ,  G05B2219/39322 ,  G05B2219/43188 ,  G05B2219/50391

    Abstract: A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (∥{dot over (x)}refk−J{dot over (q)}refk∥Wx) between the target speed vector ({dot over (x)}ref) and an actual speed vector ({dot over (x)}act) calculated from actual rotation speeds of the joints; and ii) a rate of change




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    of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}ref) determined in step (b) as target rotation speeds of the joints.

    Reducing Kinematic Error
    16.
    发明申请
    Reducing Kinematic Error 有权

    公开(公告)号：US20250065499A1

    公开(公告)日：2025-02-27

    申请号：US18948695

    申请日：2024-11-15

    Applicant: ABB Schweiz AG

    Inventor： Arne Wahrburg ,  Richard Roberts ,  Stig Moberg

    IPC: B25J9/16

    Abstract: A method for reducing kinematic error in a joint includes providing an acceleration sensor; selecting a trajectory to be followed by the acceleration sensor; estimating expected acceleration values the sensor will experience along the trajectory; outputting initial commands for moving the sensor along the trajectory; obtaining corrected commands by adding to a parameter specified in an initial command a kinematic error correction and inputting the corrected commands into a joint controller; recording acceleration values to which the sensor is subject while moving according to the corrected commands; judging whether a deviation between the expected acceleration values and the recorded acceleration values exceeds a predetermined threshold, and when the deviation is judged to exceed the threshold, modifying the kinematic error correction so as to reduce the deviation.

    METHOD FOR CONTROLLING MOVEMENT OF A ROBOT
    18.
    发明申请
    METHOD FOR CONTROLLING MOVEMENT OF A ROBOT 有权

    公开(公告)号：US20210162598A1

    公开(公告)日：2021-06-03

    申请号：US17170911

    申请日：2021-02-09

    Applicant: ABB Schweiz AG

    Inventor： Tomas Groth ,  Arne Wahrburg

    IPC: B25J9/16 ,  B25J9/06

    Abstract: A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (∥{dot over (x)}refk−J{dot over (q)}refk∥Wx) between the target speed vector ({dot over (x)}ref) and an actual speed vector ({dot over (x)}act) calculated from actual rotation speeds of the joints; and ii) a rate of change ( 1 T S   q . ref k - q . ref k - 1  W a ) of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}ref) determined in step (b) as target rotation speeds of the joints.

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