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：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：US20240083027A1

公开(公告)日：2024-03-14

申请号：US18262931

申请日：2021-02-01

Applicant: ABB Schweiz AG

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

IPC: B25J9/16 ,  B25J13/06

CPC classification number: B25J9/1664 ,  B25J13/06

Abstract: A method of responsive robot path planning implemented in a robot controller, including: providing a plurality of potential motion paths of a robot manipulator, wherein the potential motion paths are functionally equivalent with regard to at least one initial or final condition, a transportation task and/or a workpiece processing task; causing an operator interface to visualize the potential motion paths, wherein the operator interface is associated with an operator sharing a workspace with the robot manipulator; obtaining operator behavior during the visualization; and selecting at least one preferred motion path based on the operator behavior. A method in an operator interface, including obtaining from a robot controller a plurality of potential motion paths of the robot manipulator; visualizing the potential motion paths; sensing operator behavior during the visualization; and making the operator behavior available to the robot controller.

公开(公告)号：US20240066702A1

公开(公告)日：2024-02-29

申请号：US18261156

申请日：2021-01-21

Applicant: ABB Schweiz AG

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

IPC: B25J9/16 ,  B25J13/00 ,  B25J19/06

CPC classification number: B25J9/1674 ,  B25J9/1605 ,  B25J9/1664 ,  B25J13/006 ,  B25J19/06

Abstract: A method of handling safety of an industrial robot in a workspace, the method including providing a geometric region by a monitoring system, where the geometric region is defined in relation to the industrial robot and/or in relation to the workspace, and where the geometric region is associated with at least one condition for being fulfilled by the industrial robot; communicating the geometric region from the monitoring system to a robot control system of the industrial robot; determining a movement of the industrial robot by the robot control system based on the geometric region and the at least one condition; executing the movement by the industrial robot; and monitoring, by the monitoring system, the execution of the movement with respect to the geometric region and the at least one condition.

公开(公告)号：US20230166403A1

公开(公告)日：2023-06-01

申请号：US17997005

申请日：2020-04-24

Applicant: ABB Schweiz AG

Inventor： Yang Gao ,  Roger Kulläng ,  Mikael Norrlöf ,  Mattias Björkman ,  Per Willför

IPC: B25J9/16 ,  G05B19/4155

CPC classification number: B25J9/1682 ,  B25J9/1602 ,  G05B19/4155 ,  G05B2219/50391

Abstract: An industrial robot system including a first robot. The first robot includes a first manipulator with a base and a tool movable in relation to the base about a plurality of axes, and a first primary controller having a primary robot functionality, the primary robot functionality including control of manipulator motion. The industrial robot system further includes a plurality of secondary controllers, each having a secondary robot functionality, wherein the primary robot functionality is different from all of the secondary robot functionalities, and wherein an overall robot functionality is defined by the primary robot functionality and one or more secondary robot functionalities.