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    Method for calibrating a robot and a robot system
    1.
    发明授权
    Method for calibrating a robot and a robot system 有权

    公开(公告)号：US09889565B2

    公开(公告)日：2018-02-13

    申请号：US15320591

    申请日：2014-06-23

    Applicant: ABB Schweiz AG

    Inventor： Ivan Lundberg

    IPC: B25J9/16 ,  G05B19/401

    CPC classification number: B25J9/1692 ,  B25J9/1697 ,  G05B19/401 ,  G05B2219/39024

    Abstract: A system for calibrating a robot having a movable part with a calibration marker including: positioning the calibration marker along an optical line of a camera unit; imaging the calibration marker along the optical line to establish line positions P1 . . . PN within a tolerance k, while monitoring joint values j1 . . . jM of the robot; establishing an error function based on resulting calculated robot positions P′1 . . . P′N, for the calibration marker for joint values j1 . . . jM at each line position P1 . . . PN for the calibration marker; identifying a set of robot kinematic parameters by solving an optimization problem based on the error function; and updating a kinematic model of the robot via the identified set of robot kinematic parameters.

    Method for determining possible transitions of system states
    2.
    发明授权
    Method for determining possible transitions of system states 有权

    公开(公告)号：US11478929B2

    公开(公告)日：2022-10-25

    申请号：US16348463

    申请日：2016-11-09

    Applicant: ABB Schweiz AG

    Inventor： Johan Wessén ,  Ivan Lundberg ,  Sead Travancic

    IPC: B25J9/16 ,  G05B19/418 ,  G06F9/448

    Abstract: A method for determining possible transitions of system states in an industrial system with a plurality of agents with discrete agent states. The method comprises the steps of defining a plurality of rules, each rule comprising a pre-condition of at least one agent state that is to be changed, a post-condition of the at least one agent state, and an action or actions resulting in a corresponding transition of the at least one agent state; defining a plurality of nodes, each node comprising a system state; and evaluating for a plurality of pairs of nodes, whereby one node of each pair acts as a pre- condition node and the other node of each pair acts as a post-condition node, whether the pair can, given the rules, be directly connected by an edge, each edge comprising an action or actions required for a transition between the respective pre- and post-condition system states.

    Method For Determining Possible Transitions Of System States
    3.
    发明申请
    Method For Determining Possible Transitions Of System States 审中-公开

    公开(公告)号：US20190270202A1

    公开(公告)日：2019-09-05

    申请号：US16348463

    申请日：2016-11-09

    Applicant: ABB Schweiz AG

    Inventor： Johan Wessén ,  Ivan Lundberg ,  Sead Travancic

    IPC: B25J9/16 ,  G05B19/418

    Abstract: A method for determining possible transitions of system states in an industrial system with a plurality of agents with discrete agent states. The method includes the step of defining a plurality of rules, each rule having a pre-condition of at least one agent state that is to be changed, a post-condition of the at least one agent state, and an action or actions resulting in a corresponding transition of the at least one agent state. The method further includes the step of defining a plurality of nodes, each node having a system state. The method further includes the step of and evaluating for a plurality of pairs of nodes, whereby one node of each pair acts as a pre-condition node and the other node of each pair acts as a post-condition node, whether the pair can, given the rules, be directly connected by means of an edge. Each edge includes an action or actions required for a transition between the respective pre- and post-condition system states. By determining possible direct transitions between the system states offline, fast runtime decisions by system's controller are allowed to take place.

    Method And System For Aligning A Tool During Programming Of An Industrial Robot
    7.
    发明申请
    Method And System For Aligning A Tool During Programming Of An Industrial Robot 审中-公开

    公开(公告)号：US20180373232A1

    公开(公告)日：2018-12-27

    申请号：US16061731

    申请日：2016-02-02

    Applicant: ABB Schweiz AG

    Inventor： Annika Hedlund ,  Ivan Lundberg ,  Jonathan Styrud ,  Martin Nordvall ,  Ralph Sjöberg ,  Tomas Groth

    IPC: G05B19/423 ,  B25J9/16

    Abstract: An industrial robot including a movable robot arm for supporting a tool, and a control unit configured to control the movement of the robot. The control unit is provided with an alignment function for aligning the tool with at least one specified axis. The control unit is configured to supervise the movement of the robot, and to automatically adjust the orientation of the tool so that the tool is aligned with the specified axis upon detecting that the movement of the robot has been stopped and the alignment function is activated. Also disclosed is a method for controlling the industrial robot, and to the use of the method for teaching a robot a path including a plurality of target points by lead-through programming.

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