公开(公告)号：US11279027B2

公开(公告)日：2022-03-22

申请号：US17169575

申请日：2021-02-08

Applicant: ABB Schweiz AG

Inventor： Debora Clever ,  Fan Dai ,  Hao Ding ,  Tomas Groth ,  Bjoern Matthias ,  Arne Wahrburg

IPC: B25J9/16

Abstract: A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.

公开(公告)号：US20190113895A1

公开(公告)日：2019-04-18

申请号：US16214162

申请日：2018-12-10

Applicant: ABB SCHWEIZ AG

Inventor： Arne Wahrburg ,  Silke Klose ,  Edo Jelavic

IPC: G05B17/02 ,  G06F17/14

Abstract: A method to identify physical parameters of a mechanical load with integrated reliability indication includes: applying a first control signal to a mechanical device in a control circuit; measuring a first return signal; and using a power density spectrum of the first return signal to stipulate an excitation signal for the mechanical device.

公开(公告)号：US20240342914A1

公开(公告)日：2024-10-17

申请号：US18751797

申请日：2024-06-24

Applicant: ABB Schweiz AG

Inventor： René Kirsten ,  Nima Enayati ,  Arne Wahrburg ,  Mikael Norrlöf ,  Morten Akerblad

IPC: B25J9/16

CPC classification number: B25J9/1679 ,  B25J9/1661

Abstract: A method for modeling a working environment of a robot comprising providing a robot having a base, a reference point, a plurality of links by which the reference point is movably connected to the base, and sensors for detecting positions of or angles between the links, providing a controller adapted to associate a position of the reference point to detected positions or angles between of the links, installing the base in a working environment which is delimited by at least one surface, moving the reference point to at least one sample point of the at least one surface, determining the position of the sample point from positions of or angles between the links detected while the reference point is at the sample point, and inferring the position of the surface from the determined position.

公开(公告)号：US20240017410A1

公开(公告)日：2024-01-18

申请号：US18473453

申请日：2023-09-25

Applicant: ABB Schweiz AG

Inventor： Nima Enayati ,  Arne Wahrburg ,  Debora Clever ,  Mikael Norrlöf ,  Giacomo Spampinato ,  Mattias Björkman

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1682

Abstract: A method for trajectory planning in a robotic system comprising at least two robotic units includes a state vector of each robotic unit, which comprises position components and velocity components and is variable with time and independently from input into every other robotic unit. A trajectory defines the motion of said robotic units from an initial state to a final state and is determined by finding the trajectory that minimizes a predetermined cost function. The cost function is set to be a function of the state vectors of all robotic units, and is minimized under a constraint which defines a vector difference between at least the position components of the state vectors of said robotic units at an instant of said trajectory.

公开(公告)号：US20230100950A1

公开(公告)日：2023-03-30

申请号：US17954493

申请日：2022-09-28

Applicant: ABB Schweiz AG

Inventor： Arne Wahrburg ,  Janne Jurvanen ,  Matias Niemela ,  Mikael Harry Holmberg

IPC: B66C13/06 ,  B66C13/46

Abstract: A computer-implemented method for operating a crane includes generating speed data for a drive unit of the crane such that oscillations of the crane are suppressed; providing a compatibility model configured to describe a relation between input speed reference data of a drive unit of a crane and output position reference data of the drive unit of the crane; determining position reference data of the drive unit of the crane by inputting the speed reference data into the compatibility model; and providing the position reference data of the drive unit of the crane to a control of the drive unit of the crane and controlling the drive unit of the crane according to the position reference data.

公开(公告)号：US20250070698A1

公开(公告)日：2025-02-27

申请号：US18948884

申请日：2024-11-15

Applicant: ABB Schweiz AG

Inventor： Arne Wahrburg ,  Richard Roberts ,  Mikael Norrlöf ,  Stig Moberg

IPC: H02P21/05 ,  B25J9/16 ,  H02P21/18

Abstract: A method includes providing a kinematic correction, outputting a first drive control signal specifying a motor speed having a first kinematic correction output based on a first parameter vector; extracting a frequency component and determining a first feedback vector; outputting to the motor a second drive control signal specifying a motor speed as a sum of the standard speed and a second kinematic correction output based on a second parameter vector; extracting a frequency component and determining a second feedback vector defining a second feedback amplitude and a second feedback phase; subtracting the first feedback vector from the second feedback vector to obtain a feedback difference vector; transforming the feedback difference vector into a difference; applying the transformation to the second feedback vector to obtain a third parameter vector; and programming the kinematic correction generator using the third parameter vector.

公开(公告)号：US20240367320A1

公开(公告)日：2024-11-07

申请号：US18773977

申请日：2024-07-16

Applicant: ABB Schweiz AG

Inventor： Arne Wahrburg ,  Nuo Li ,  Björn Matthias ,  René Kirsten ,  Roger Mellander ,  Debora Clever ,  Christoph Byner ,  Harald Staab ,  Silke Klose

IPC: B25J9/16

Abstract: A method for implementing a safety configuration for a manipulator comprising an end effector comprises: a) reading an action instruction from a manipulator control program, the instruction defining at least one of a path to be followed by the end effector, a target position to be reached by the end effector, a target pose to be assumed by the end effector and an action to be carried out by a tool wielded by the end effector; b) reading at least one constraint instruction from the manipulator control program, the constraint instruction defining a constraint to be observed while carrying out an action instruction; and c) carrying out the action instruction read in step a) while respecting the constraint defined in the at least one constraint instruction, or transferring the manipulator into a safety mode if violation of the at least one constraint is detected while carrying out the action instruction.

公开(公告)号：US20240017411A1

公开(公告)日：2024-01-18

申请号：US18475574

申请日：2023-09-27

Applicant: ABB Schweiz AG

Inventor： Arne Wahrburg ,  Nima Enayati ,  Debora Clever ,  Mikael Norrlöf ,  Mattias Björkman ,  Giacomo Spampinato ,  Jonas Haulin

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1664 ,  B25J13/089 ,  B25J9/1653

Abstract: A method for controlling displacement of a robot from an initial pose to a target pose includes providing a movement command, which specifies at least the target pose and an nominal path to be followed from the initial pose to the target pose; associating with the command an allowed deviation from the nominal path; identifying a real path that deviates from the nominal path by no more than the allowed deviation; and controlling the robot to move along said real path.

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.

公开(公告)号：US20250065498A1

公开(公告)日：2025-02-27

申请号：US18948710

申请日：2024-11-15

Applicant: ABB Schweiz AG

Inventor： Arne Wahrburg ,  Richard Roberts ,  Stig Moberg ,  Nima Enayati

IPC: B25J9/16

Abstract: A method includes determining a movement of a robot arm in which a joint while being rotated from a start angle to an end angle, is subject to a constant gravity-induced torque; controlling execution of the movement, and, in the movement, controlling the joint to rotate from the start angle to the end angle at a constant speed; detecting speed fluctuations of the joint while it is being rotated from the start angle to the end angle; and estimating the kinematic error based on the speed fluctuations.