公开(公告)号：US11144043B2

公开(公告)日：2021-10-12

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: G05B19/04 ,  G05B19/423 ,  B25J9/16 ,  B23K9/10

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.

公开(公告)号：US20180345494A1

公开(公告)日：2018-12-06

申请号：US15777773

申请日：2015-12-11

Applicant: ABB Schweiz AG

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

IPC: B25J9/16

Abstract: An industrial robot including a manipulator and a robot control unit are disclosed, wherein the manipulator includes a plurality of joints that are moved under the control of the control unit, and the control unit includes a storage medium including program code for controlling the motions of the robot when executed by the control unit. The control unit is configured to automatically select which part of the program code to be executed next based on the position of the robot. A method for controlling the robot is also disclosed.

公开(公告)号：US10518413B2

公开(公告)日：2019-12-31

申请号：US15777773

申请日：2015-12-11

Applicant: ABB Schweiz AG

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

IPC: B25J9/16 ,  G05B19/42

Abstract: An industrial robot including a manipulator and a robot control unit are disclosed, wherein the manipulator includes a plurality of joints that are moved under the control of the control unit, and the control unit includes a storage medium including program code for controlling the motions of the robot when executed by the control unit. The control unit is configured to automatically select which part of the program code to be executed next based on the position of the robot. A method for controlling the robot is also disclosed.

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.