公开(公告)号：US20240083028A1

公开(公告)日：2024-03-14

申请号：US18263911

申请日：2021-02-11

Applicant: ABB Schweiz AG

Inventor： Markus Enberg ,  Hans Andersson ,  Mikael Norrlöf ,  Jakob Weström

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1638

Abstract: A method of controlling a manipulator of an industrial robot having a plurality of joints, the method including providing a candidate trajectory for the manipulator; determining at least one position dependent load value representative of at least one position dependent load acting on the manipulator for the candidate trajectory; modifying the candidate trajectory based on the at least one position dependent load value to provide a modified trajectory; and executing the modified trajectory by the manipulator. A control system for controlling a manipulator of an industrial robot having a plurality of joints, and an industrial robot including a manipulator and a control system, are also provided.

公开(公告)号：US20240335944A1

公开(公告)日：2024-10-10

申请号：US18681972

申请日：2021-09-01

Applicant: ABB Schweiz AG

Inventor： Markus Enberg ,  Hans Andersson

IPC: B25J9/16 ,  B25J11/00

CPC classification number: B25J9/1664 ,  B25J11/005

Abstract: A method of controlling an industrial device including a manipulator, the method including providing a plurality of consecutive target points for the manipulator; providing a plurality of alternative zone groups, where each zone group includes at least one zone associated with a target point; for each zone group, evaluating a performance value of a performance parameter of the industrial device, the performance parameter being associated with execution by the manipulator of a movement path associated with the target points and the at least one zone; selecting one of the zone groups based on the evaluation; and controlling the industrial device based on the selected zone group, the control including executing the movement path associated with the selected zone group by the manipulator. A control system and an industrial device are also provided.

公开(公告)号：US20220184809A1

公开(公告)日：2022-06-16

申请号：US17593970

申请日：2019-04-05

Applicant: ABB Schweiz AG

Inventor： Markus Enberg ,  Tomas Groth

IPC: B25J9/16

Abstract: A system and a method, for assisting a user in programming a robot. Storage circuitry includes predefined possible values for a physical condition of at least two joints, the values being subdivided into two or more ranges. Processing circuitry is arranged to acquire a first path of the Tool Centre Point (TCP), receive, for each of a plurality of points of the first path and for the joints, a value associated with the physical condition at the respective points, determine which of the ranges the value is associated with, generate at least one additional path, associate each of the at least two joints to a respective path, and send instructions to a display, to illustrate the first path and the additional path, together with the information of which range the values are associated with at the plurality of points of the paths.

公开(公告)号：US12053891B2

公开(公告)日：2024-08-06

申请号：US17593970

申请日：2019-04-05

Applicant: ABB Schweiz AG

Inventor： Markus Enberg ,  Tomas Groth

IPC: B25J9/16 ,  B23C1/00 ,  B60C25/05

CPC classification number: B25J9/1671 ,  B23C1/005 ,  B60C25/0587

Abstract: A system and a method, for assisting a user in programming a robot. Storage circuitry includes predefined possible values for a physical condition of at least two joints, the values being subdivided into two or more ranges. Processing circuitry is arranged to acquire a first path of the Tool Centre Point (TCP), receive, for each of a plurality of points of the first path and for the joints, a value associated with the physical condition at the respective points, determine which of the ranges the value is associated with, generate at least one additional path, associate each of the at least two joints to a respective path, and send instructions to a display, to illustrate the first path and the additional path, together with the information of which range the values are associated with at the plurality of points of the paths.

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.

公开(公告)号：US20240149450A1

公开(公告)日：2024-05-09

申请号：US18549021

申请日：2021-03-11

Applicant: ABB Schweiz AG

Inventor： Hans Andersson ,  Markus Enberg ,  Sven Hanssen

IPC: B25J9/16 ,  B25J11/00

CPC classification number: B25J9/1664 ,  B25J11/005

Abstract: A method of handling a manipulator of an industrial robot, the manipulator including a base member, a mounting interface and a kinematic chain between the base member and the mounting interface, the kinematic chain including the base member, the mounting interface and at least one controllable joint, the method including providing a candidate trajectory for the manipulator, the candidate trajectory being associated with a candidate path; receiving a load location input from a user, the load location input being associated with a load location associated with the industrial robot outside the kinematic chain; and calculating load values of a load parameter that will affect the load location if the candidate trajectory is executed. A control system and an industrial robot are also provided.

公开(公告)号：US20220410393A1

公开(公告)日：2022-12-29

申请号：US17756543

申请日：2019-12-04

Applicant: ABB Schweiz AG

Inventor： Mikael Norrlöf ,  Markus Enberg ,  Morten Åkerblad ,  Anders Spaak

IPC: B25J9/16

Abstract: A method of controlling an industrial actuator, the method including providing a plurality of consecutive input target points, of which at least one is an intermediate input target point; for one or more of the at least one intermediate input target point, defining at least one virtual target point associated with the intermediate input target point; for one or more of the at least one virtual target point, defining a blending zone associated with the virtual target point; and defining a movement path on the basis of the at least one virtual target point and the at least one blending zone. A control system is also provided.