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公开(公告)号：US20230211501A1
公开(公告)日：2023-07-06
申请号：US17998297
申请日：2021-05-12
Applicant: ABB Schweiz AG
Inventor： Roger Mellander , Roger Dahlgren
IPC: B25J9/16
CPC classification number: B25J9/1664 , B25J9/1671 , B25J9/1674
Abstract: A method of controlling a robot manipulator on the basis of a program containing a plurality of movement instructions. In the method, identification information related to a robot installation is obtained, and it is determined, on the basis of the identification information, whether any of the movement instructions relates to a location of the robot manipulator which is non-verified with respect to the robot installation, wherein a location is a pose, a path and/or a modulated path. If this is true, the method applies a policy which restricts execution of the program.
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公开(公告)号：US11376728B2
公开(公告)日：2022-07-05
申请号：US17594257
申请日：2019-04-16
Applicant: ABB Schweiz AG
Inventor： Roger Mellander , Daniel Wäppling
Abstract: A method of handling safety in a working area of an industrial system, wherein at least one machine is arranged to operate in the working area, at least one manually operable safety input device is provided in the working area, and one or more of the at least one machine and the at least one safety input device is movable to different positions in the working area, the method including continuously or repeatedly determining whether one or more of the at least one the machine is in proximity to one or more of the at least one safety input device; and associating at least one machine with the at least one safety input device upon determining that one or more of the at least one machine is in proximity to one or more of the at least one safety input device, such that the at least one associated machine can be brought to a safe state by means of the at least one safety input device.
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公开(公告)号：US12172315B2
公开(公告)日：2024-12-24
申请号：US17996746
申请日：2020-04-27
Applicant: ABB Schweiz AG
Inventor： Roger Mellander , Roger Dahlgren
IPC: B25J9/16
Abstract: A robot controller is configured to control operation of at least one industrial robot. The robot controller includes: a processor; a memory configured to store a current system configuration of the robot controller, and an editing interface configured to enable modification of the current system configuration. It further includes a stored fingerprint corresponding to the system configuration according to original manufacturer settings; and a fingerprinting interface configured to facilitate computation of a fingerprint based on the current system configuration. The stored and computed fingerprints may be compared to determine whether any modification has occurred.
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公开(公告)号：US20200122337A1
公开(公告)日：2020-04-23
申请号：US16720019
申请日：2019-12-19
Applicant: ABB Schweiz AG
Inventor： Bjoern Matthias , Hao Ding , Roger Mellander , Tomas Groth
Abstract: A method of determining a joint torque in a joint of an articulated industrial robot, the robot having a first arm and a second arm which are coupled to each other by the joint and which are movable relative to each other by an electric drive unit coupled to the first and second arm, includes: controlling the electric drive unit by an electronic control device; assigning a measuring device to the electric drive unit, the measuring device measuring an electric current supplied to the drive unit; determining an actual value of the torque which is applied to the second arm from the measured electric current; and comparing, using the electronic control device, the determined actual torque value with a predetermined desired torque value for the joint.
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公开(公告)号：US20240367320A1
公开(公告)日：2024-11-07
申请号：US18773977
申请日：2024-07-16
Applicant: ABB Schweiz AG
Inventor： Arne Wahrburg , Nuo Li , Björn Matthias , René Kirsten , Roger Mellander , Debora Clever , Christoph Byner , Harald Staab , Silke Klose
IPC: B25J9/16
Abstract: A method for implementing a safety configuration for a manipulator comprising an end effector comprises: a) reading an action instruction from a manipulator control program, the instruction defining at least one of a path to be followed by the end effector, a target position to be reached by the end effector, a target pose to be assumed by the end effector and an action to be carried out by a tool wielded by the end effector; b) reading at least one constraint instruction from the manipulator control program, the constraint instruction defining a constraint to be observed while carrying out an action instruction; and c) carrying out the action instruction read in step a) while respecting the constraint defined in the at least one constraint instruction, or transferring the manipulator into a safety mode if violation of the at least one constraint is detected while carrying out the action instruction.
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Patent Agency Ranking
公开(公告)号：US20230219222A1
公开(公告)日：2023-07-13
申请号：US17996746
申请日：2020-04-27
Applicant: ABB Schweiz AG
Inventor： Roger Mellander , Roger Dahlgren
IPC: B25J9/16
CPC classification number: B25J9/1656 , B25J9/1674
Abstract: A robot controller is configured to control operation of at least one industrial robot. The robot controller includes: a processor; a memory configured to store a current system configuration of the robot controller, and an editing interface configured to enable modification of the current system configuration. It further includes a stored fingerprint corresponding to the system configuration according to original manufacturer settings; and a fingerprinting interface configured to facilitate computation of a fingerprint based on the current system configuration. The stored and computed fingerprints may be compared to determine whether any modification has occurred.
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公开(公告)号：US20220088770A1
公开(公告)日：2022-03-24
申请号：US17594257
申请日：2019-04-16
Applicant: ABB Schweiz AG
Inventor： Roger Mellander , Daniel Wäppling
Abstract: A method of handling safety in a working area of an industrial system, wherein at least one machine is arranged to operate in the working area, at least one manually operable safety input device is provided in the working area, and one or more of the at least one machine and the at least one safety input device is movable to different positions in the working area, the method including continuously or repeatedly determining whether one or more of the at least one the machine is in proximity to one or more of the at least one safety input device; and associating at least one machine with the at least one safety input device upon determining that one or more of the at least one machine is in proximity to one or more of the at least one safety input device, such that the at least one associated machine can be brought to a safe state by means of the at least one safety input device.
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8.发明申请公开(公告)号：US20180364866A1
公开(公告)日：2018-12-20
申请号：US16048773
申请日：2018-07-30
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Liwei Qi , Roger Mellander , Daniel X. Wappling
Abstract: A method for calibrating a touchscreen panel and the system, the industrial robot and the touchscreen panel using the same. The method including the steps of: (a) defining at least one area of the touchscreen with predetermined accuracy for position measuring; (b) recording a plurality of kinematic parameters of the industrial robot on a plurality of first touch points on the at least one area of the touchscreen; (c) recording a plurality of first position values on the plurality of first touch points on the at least one area of the touchscreen; (d) determining a first calibration data for the kinematic model of the industrial robot using the kinematic parameters and using the first position values; (e) computationally correcting errors of the kinematic model of the industrial robot using the first calibration data; (f) recording a plurality of second position values on a plurality of second touch points on the at least one area with at least a portion of its border extending outwards; (g) determining a second calibration data for the touchscreen using the kinematic parameters and using the second position values; (h) computationally correcting errors of position measurement of the touchscreen using the second calibration data; and iteratively repeating the steps (b) through (h) for different postures of the industrial robot until the iteration step no longer results in significant improvement of the error correction of the kinematic model of the industrial robot.
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9.发明申请公开(公告)号：US20250100170A1
公开(公告)日：2025-03-27
申请号：US18729926
申请日：2022-01-31
Applicant: ABB Schweiz AG
Inventor： Johan Ernlund , Roger Mellander
IPC: B25J19/06
Abstract: A method of indicating noise emissions of an industrial robot, including: obtaining at least one robot program containing commands to the industrial robot; obtaining a plurality of values of at least one robot-motion parameter; recording, for each of the values of the robot-motion parameter, an acoustic quantity indicative of noise emitted by the industrial robot while executing said at least one robot program; and displaying, by means of a graphical user interface on a visual display, a visualization of the acoustic quantity indicated as a function of the robot-motion parameter.
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公开(公告)号：US20240286287A1
公开(公告)日：2024-08-29
申请号：US18570932
申请日：2021-06-17
Applicant: ABB Schweiz AG
Inventor： Roger Mellander , Per Carlsson
CPC classification number: B25J9/1674 , B25J9/0081 , B25J9/1602
Abstract: A robot system includes a first group of robot controllers, each including a safety change control unit and each being connected to at least one corresponding manipulator, where one robot controller is a proxy robot controller. The safety change control unit of the proxy receives a request to manually operate at least one joint of at least one of the manipulators via a first point of manual control at one of the robot controllers and forwards it to the others, each safety change control unit determines a response to the request and at least one safety change control unit receives the responses from the other safety change control units, investigates if the responses and request match and denies the request in case at least one response does not match the request.
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