公开(公告)号：US10888998B2

公开(公告)日：2021-01-12

申请号：US14914695

申请日：2013-10-07

Applicant: ABB Schweiz AG

Inventor： Per Willför ,  Roger Kulläng ,  Roger Mellander

IPC: B25J9/16 ,  G05B19/4061

Abstract: A method and a device for verifying one or more safety volumes for a movable mechanical unit positioned in an environment, wherein a world-coordinate system is defined in relation to the mechanical unit and in relation to the environment of the mechanical unit. The method includes storing a description of one or more safety volumes defined in relation to the world-coordinate system, and repeatedly determining position and orientation of a portable display unit in relation to the world-coordinate system, determining a graphical representation of the safety volumes based on the description of the safety volumes and the position and orientation of the portable display unit, overlaying the graphical representation of the safety volumes on a view of the real mechanical unit and its environment to provide a composited augmented reality image, and displaying the augmented reality image on the portable display unit.

公开(公告)号：US10821610B2

公开(公告)日：2020-11-03

申请号：US16720019

申请日：2019-12-19

Applicant: ABB Schweiz AG

Inventor： Bjoern Matthias ,  Hao Ding ,  Roger Mellander ,  Tomas Groth

IPC: B25J13/00 ,  B25J13/08 ,  H02P29/40 ,  B25J9/02 ,  B25J9/16

Abstract: A method of determining a joint torque in a joint of an articulated industrial robot, the robot having a first arm and a second arm which are coupled to each other by the joint and which are movable relative to each other by an electric drive unit coupled to the first and second arm, includes: controlling the electric drive unit by an electronic control device; assigning a measuring device to the electric drive unit, the measuring device measuring an electric current supplied to the drive unit; determining an actual value of the torque which is applied to the second arm from the measured electric current; and comparing, using the electronic control device, the determined actual torque value with a predetermined desired torque value for the joint.

公开(公告)号：US10606410B2

公开(公告)日：2020-03-31

申请号：US16048773

申请日：2018-07-30

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Liwei Qi ,  Roger Mellander ,  Daniel X. Wappling

IPC: G06F3/041 ,  B25J9/16

Abstract: A method for calibrating a touchscreen panel and the system, the industrial robot and the touchscreen panel using the same. The method including the steps of: (a) defining at least one area of the touchscreen with predetermined accuracy for position measuring; (b) recording a plurality of kinematic parameters of the industrial robot on a plurality of first touch points on the at least one area of the touchscreen; (c) recording a plurality of first position values on the plurality of first touch points on the at least one area of the touchscreen; (d) determining a first calibration data for the kinematic model of the industrial robot using the kinematic parameters and using the first position values; (e) computationally correcting errors of the kinematic model of the industrial robot using the first calibration data; (f) recording a plurality of second position values on a plurality of second touch points on the at least one area with at least a portion of its border extending outwards; (g) determining a second calibration data for the touchscreen using the kinematic parameters and using the second position values; (h) computationally correcting errors of position measurement of the touchscreen using the second calibration data; and iteratively repeating the steps (b) through (h) for different postures of the industrial robot until the iteration step no longer results in significant improvement of the error correction of the kinematic model of the industrial robot.