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公开(公告)号：US20210260761A1
公开(公告)日：2021-08-26
申请号：US17254275
申请日：2018-07-04
Applicant: ABB Schweiz AG
Inventor： Mikael Norrlöf , Markus Enberg , Morten Åkerblad , Philippe Charles , Jan Bronkhorst , Ron Nakken , Haayo Terpstra
IPC: B25J9/16 , G05B19/416
Abstract: A method for controlling an industrial actuator (26), the method comprising defining a movement path (10) as a sequence of a plurality of consecutive movement segments (14), where each movement segment (14) is defined between two points (16); defining at least one blending zone (12, 50, 52) associated with one of the points (16) between two consecutive movement segments (14), wherein the blending zone (12, 50, 52) is defined independently in relation to each of the two consecutive movement segments (14); and executing the movement path (10) comprising the blending zone (12, 50, 52) by the industrial actuator (26). A control system (30) for controlling an industrial actuator (26) and an actuator system (24) comprising an industrial actuator (26), are also provided.
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公开(公告)号：US20240224866A1
公开(公告)日：2024-07-11
申请号：US18610791
申请日：2024-03-20
Applicant: ABB Schweiz AG
Inventor： Haayo Terpstra
CPC classification number: A01D46/30 , A01D46/22 , B25J11/0045 , B25J19/02
Abstract: An end effector for a fruit picking robot has a distal portion comprising tools for seizing and detaching a fruit from its mother plant, a proximal portion comprising an interface for mounting the end effector to a robot arm, and a storage bay for picked fruit. The storage bay is elongate in a longitudinal direction and has a discharge port extending along the full length of the storage bay in the longitudinal direction. A fruit support member has a longitudinally extending edge which delimits the discharge port.
