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公开(公告)号：US20250070698A1
公开(公告)日：2025-02-27
申请号：US18948884
申请日：2024-11-15
Applicant: ABB Schweiz AG
Inventor： Arne Wahrburg , Richard Roberts , Mikael Norrlöf , Stig Moberg
Abstract: A method includes providing a kinematic correction, outputting a first drive control signal specifying a motor speed having a first kinematic correction output based on a first parameter vector; extracting a frequency component and determining a first feedback vector; outputting to the motor a second drive control signal specifying a motor speed as a sum of the standard speed and a second kinematic correction output based on a second parameter vector; extracting a frequency component and determining a second feedback vector defining a second feedback amplitude and a second feedback phase; subtracting the first feedback vector from the second feedback vector to obtain a feedback difference vector; transforming the feedback difference vector into a difference; applying the transformation to the second feedback vector to obtain a third parameter vector; and programming the kinematic correction generator using the third parameter vector.
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公开(公告)号：US20230138217A1
公开(公告)日：2023-05-04
申请号：US18083687
申请日：2022-12-19
Applicant: ABB Schweiz AG
Inventor： Christoph Byner , Björn Matthias , Harald Staab , Richard Roberts
Abstract: A robot comprises at least one articulate arm having members including a base, an end effector and a plurality of links, wherein each link is movably connected to two others of said members by respective joints, at least one sensor for detecting an external force acting on any one of the members, and a controller for controlling movements of the joints, so as to move the end effector along a pre-programmed path. In case of the sensor detecting an external force, the controller is adapted to adopt a first release strategy for escaping from the external force, to evaluate whether the first strategy is successful, and if not, to adopt a second release strategy.
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公开(公告)号：US20200164516A1
公开(公告)日：2020-05-28
申请号：US16777918
申请日：2020-01-31
Applicant: ABB SCHWEIZ AG
Inventor： Nicolas Lehment , Andreas Decker , Richard Roberts , Bjoern Matthias , Jihuan Tian
Abstract: A method for controlling a robot includes the steps of: deciding whether there is a non-permanent object in a vicinity of the robot; if there is a non-permanent object, deciding whether the object qualifies for extended protection or not; and defining a safety zone around the object which the robot must not enter or in which a maximum allowed speed of the robot is less than outside the safety zone. The safety zone extends to a greater distance from the object if the object qualifies for extended protection than if it does not.
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公开(公告)号：US20200088865A1
公开(公告)日：2020-03-19
申请号：US16690162
申请日：2019-11-21
Applicant: ABB Schweiz AG
Inventor： Bjoern Matthias , Richard Roberts , Andreas Decker , Christoph Byner , Nicolas Lehment
Abstract: A distance measuring system includes: at least one emitter, which emits a frequency-variable scanning signal; at least one receiver; and an analysis unit for computing a distance to an object reflecting the scanning signal on the basis of a difference between the frequencies of the emitted and the received scanning signal. The rate of change of the frequency of the scanning signal in a first operating mode of the distance measuring system has a first finite value. The rate of change of the frequency in a second operating mode has a second finite value. The analysis unit is configured to compute a first distance on the basis of a frequency difference ascertained in the first operating mode, to compute a second distance on the basis of a frequency difference ascertained in the second operating mode, and to evaluate the correspondence between first and second computed distance.
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公开(公告)号：US20250065498A1
公开(公告)日：2025-02-27
申请号：US18948710
申请日：2024-11-15
Applicant: ABB Schweiz AG
Inventor： Arne Wahrburg , Richard Roberts , Stig Moberg , Nima Enayati
IPC: B25J9/16
Abstract: A method includes determining a movement of a robot arm in which a joint while being rotated from a start angle to an end angle, is subject to a constant gravity-induced torque; controlling execution of the movement, and, in the movement, controlling the joint to rotate from the start angle to the end angle at a constant speed; detecting speed fluctuations of the joint while it is being rotated from the start angle to the end angle; and estimating the kinematic error based on the speed fluctuations.
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Patent Agency Ranking
公开(公告)号：US20240401983A1
公开(公告)日：2024-12-05
申请号：US18798228
申请日：2024-08-08
Applicant: ABB Schweiz AG
Inventor： Richard Roberts , Werner Hösl
Abstract: A method for operating a resolver, the resolver comprising at least one stator winding and at least one rotor winding which is rotatable with respect to said at least one stator winding and inductively coupled thereto, a monitoring phase of the method comprising: a) exciting the rotor winding with an alternating current, b) deriving a first sampling voltage value by sampling a voltage induced in the at least one stator winding by the alternating current flowing in the rotor winding at a predetermined first phase of the excitation current, and c) deciding that the resolver is defective when the first sampling voltage value deviates significantly from a DC component of the induced voltage.
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公开(公告)号：US20240391098A1
公开(公告)日：2024-11-28
申请号：US18796971
申请日：2024-08-07
Applicant: ABB Schweiz AG
Inventor： Richard Roberts , Werner Hösl
Abstract: A method for monitoring a resolver having first and second winding assemblies, the first winding assembly having a sine winding and a cosine winding arranged so that when inductive coupling between the sine winding and the second winding assembly is zero, inductive coupling between the cosine winding and the second winding assembly is at a maximum, and when inductive coupling between the cosine winding and the second winding assembly is zero, inductive coupling between the sine winding and the second winding assembly is at a maximum, the method including obtaining a master amount of total inductive coupling between the first and second winding assemblies of the resolver; obtaining a current amount of total inductive coupling at a current instant in time; and deciding that the resolver is defective when a difference between the current amount and the master amount exceeds a predetermined threshold.
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公开(公告)号：US20250065499A1
公开(公告)日：2025-02-27
申请号：US18948695
申请日：2024-11-15
Applicant: ABB Schweiz AG
Inventor： Arne Wahrburg , Richard Roberts , Stig Moberg
IPC: B25J9/16
Abstract: A method for reducing kinematic error in a joint includes providing an acceleration sensor; selecting a trajectory to be followed by the acceleration sensor; estimating expected acceleration values the sensor will experience along the trajectory; outputting initial commands for moving the sensor along the trajectory; obtaining corrected commands by adding to a parameter specified in an initial command a kinematic error correction and inputting the corrected commands into a joint controller; recording acceleration values to which the sensor is subject while moving according to the corrected commands; judging whether a deviation between the expected acceleration values and the recorded acceleration values exceeds a predetermined threshold, and when the deviation is judged to exceed the threshold, modifying the kinematic error correction so as to reduce the deviation.
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公开(公告)号：US20240416503A1
公开(公告)日：2024-12-19
申请号：US18814931
申请日：2024-08-26
Applicant: ABB Schweiz AG
Inventor： Arne Wahrburg , Richard Roberts , Tomas Groth
Abstract: A robot system comprises a manipulator and a controller therefore, wherein the controller supports impedance-based control of a lead-through operation mode, characterized in that the controller is switchable between impedance-based and admittance-based control of the lead-through mode.
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公开(公告)号：US11511432B2
公开(公告)日：2022-11-29
申请号：US16777918
申请日：2020-01-31
Applicant: ABB SCHWEIZ AG
Inventor： Nicolas Lehment , Andreas Decker , Richard Roberts , Bjoern Matthias , Jihuan Tian
Abstract: A method for controlling a robot includes the steps of: deciding whether there is a non-permanent object in a vicinity of the robot; if there is a non-permanent object, deciding whether the object qualifies for extended protection or not; and defining a safety zone around the object which the robot must not enter or in which a maximum allowed speed of the robot is less than outside the safety zone. The safety zone extends to a greater distance from the object if the object qualifies for extended protection than if it does not.
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