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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
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.
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公开(公告)号：US20200122337A1
公开(公告)日：2020-04-23
申请号：US16720019
申请日：2019-12-19
Applicant: ABB Schweiz AG
Inventor： Bjoern Matthias , Hao Ding , Roger Mellander , Tomas Groth
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.
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Patent Agency Ranking
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.
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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
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.
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公开(公告)号：US20160346926A1
公开(公告)日：2016-12-01
申请号：US15235141
申请日：2016-08-12
Applicant: ABB Schweiz AG
Inventor： Bjoern Matthias , Christoph Winterhalter , Hao Ding
IPC: B25J9/16
CPC classification number: B25J9/1676 , B25J9/1697 , G05B2219/40202 , G05B2219/40409 , G05B2219/40414
Abstract: A robot system, and method for controlling it, for collaborative robot applications has a movable robot arm and a controller, wherein the controller is provided to control the movement of the distal end of the robot arm along a movement path according to at least a sequence of coordinate data and respective commands of a robot program and wherein the controller is provided to determine exact movement speed and course of the movement path between consecutive coordinates according to a set of parameters. At least two alternatively selectable sets of parameters are provided which both are related to a respective individual comfort level of a respective collaborative human worker.
Abstract translation: 用于协作机器人应用的机器人系统及其控制方法具有可移动的机器人臂和控制器，其中所述控制器被设置为根据至少一个序列来控制所述机器人臂的远端沿着运动路径的移动 的坐标数据和机器人程序的相应命令，并且其中提供控制器以根据一组参数来确定连续坐标之间的移动路径的确切移动速度和过程。 提供至少两个可选择的可选择的参数组，这两组参数与相应的协作人员的相应个体舒适度水平相关。
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公开(公告)号：US20210162596A1
公开(公告)日：2021-06-03
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.
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公开(公告)号：US10035267B2
公开(公告)日：2018-07-31
申请号：US15235141
申请日：2016-08-12
Applicant: ABB Schweiz AG
Inventor： Bjoern Matthias , Christoph Winterhalter , Hao Ding
CPC classification number: B25J9/1676 , B25J9/1697 , G05B2219/40202 , G05B2219/40409 , G05B2219/40414
Abstract: A robot system, and method for controlling it, for collaborative robot applications has a movable robot arm and a controller, wherein the controller is provided to control the movement of the distal end of the robot arm along a movement path according to at least a sequence of coordinate data and respective commands of a robot program and wherein the controller is provided to determine exact movement speed and course of the movement path between consecutive coordinates according to a set of parameters. At least two alternatively selectable sets of parameters are provided which both are related to a respective individual comfort level of a respective collaborative human worker.
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