公开(公告)号：WO2023030617A1

公开(公告)日：2023-03-09

申请号：PCT/EP2021/074112

申请日：2021-09-01

Applicant: ABB SCHWEIZ AG

Inventor： ENBERG, Markus ,  ANDERSSON, Hans

IPC: B25J9/16

Abstract: A method of controlling an industrial device (10) comprising a manipulator (12), the method comprising providing a plurality of consecutive target points (42a-42e) for the manipulator; providing a plurality of alternative zone groups (44a-44h), where each zone group comprises at least one zone (46a- 46e; 50b-50d; 52b-52d) 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 (48a-48f) 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 comprising executing the movement path associated with the selected zone group by the manipulator. A control system (14) and an industrial device (10) are also provided.

公开(公告)号：WO2022228680A1

公开(公告)日：2022-11-03

申请号：PCT/EP2021/061262

申请日：2021-04-29

Applicant: ABB SCHWEIZ AG

Inventor： HANSSEN, Sven ,  ANDERSSON, Hans ,  NOREN, Johan

IPC: B25J9/16

Abstract: A method of calibrating a manipulator (16b) of an industrial robot (12b, 12c), the method comprising providing a primary manipulator (16a) having one or more primary joints (24a) and a primary mounting interface (26a); providing a secondary manipulator (16b) having one or more secondary joints (24b) and a secondary mounting interface (26b), where the primary mounting interface is substantially rigidly connected to the secondary mounting interface; providing a load sensor (36) between the primary mounting interface and the secondary mounting interface, the load sensor being configured to provide load data (38) indicative of loads between the primary mounting interface and the secondary mounting interface; controlling the primary manipulator to adopt at least one calibration state (42a1, 42a2, 42a3); for each calibration state, recording a primary joint position of at least one primary joint; and calibrating the secondary manipulator based on the at least one recorded primary joint position; wherein the primary manipulator is controlled to adopt the at least one calibration state based on the load data; and/ or wherein the calibration of the secondary manipulator is additionally made based on the load data.

公开(公告)号：WO2022171283A1

公开(公告)日：2022-08-18

申请号：PCT/EP2021/053312

申请日：2021-02-11

Applicant: ABB SCHWEIZ AG

Inventor： ENBERG, Markus ,  ANDERSSON, Hans ,  NORRLÖF, Mikael ,  WESTRÖM, Jakob

IPC: B25J9/16

Abstract: A method of controlling a manipulator (12) of an industrial robot (10) having a plurality of joints (20a-20f), the method comprising providing a candidate trajectory (34a) for the manipulator (12); determining at least one position dependent load value representative of at least one position dependent load acting on the manipulator (12) for the candidate trajectory (34a); modifying the candidate trajectory (34a) based on the at least one position dependent load value to provide a modified trajectory (34b); and executing the modified trajectory (34b) by the manipulator (12). A control system (14) for controlling a manipulator (12) of an industrial robot (10) having a plurality of joints (20a-20f), and an industrial robot (10) comprising a manipulator (12) and a control system (14), are also provided.

公开(公告)号：WO2022188976A1

公开(公告)日：2022-09-15

申请号：PCT/EP2021/056137

申请日：2021-03-11

Applicant: ABB SCHWEIZ AG

Inventor： ANDERSSON, Hans ,  ENBERG, Markus ,  HANSSEN, Sven

IPC: B25J9/16

Abstract: A method of handling a manipulator (12) of an industrial robot (10), the manipulator (12) comprising a base member (16), a mounting interface (24) and a kinematic chain between the base member (16) and the mounting interface (24), the kinematic chain comprising the base member (16), the mounting interface (24) and at least one controllable joint (22), the method comprising providing a candidate trajectory (40a) for the manipulator (12), the candidate trajectory (40a) being associated with a candidate path (42a); receiving a load location input (60a-60d) from a user, the load location input (60a-60d) being associated with a load location (50a-50d) associated with the industrial robot (10) outside the kinematic chain; and calculating load values of a load parameter (56) that will affect the load location (50a-50d) if the candidate trajectory (40a) is executed. A control system (14) and an industrial robot (10) are also provided.

公开(公告)号：WO2020160776A1

公开(公告)日：2020-08-13

申请号：PCT/EP2019/053020

申请日：2019-02-07

Applicant: ABB SCHWEIZ AG

Inventor： NOREN, Johan ,  HANSSEN, Sven ,  ANDERSSON, Hans ,  FIXELL, Peter

IPC: B25J9/16

Abstract: A method of calibrating a tool (14) of an industrial robot (10), the method comprising positioning a tool center point (32) of the tool (14) in relation to a reference target (26) in at least one calibration position (34) of the robot (10); for each calibration position (34), recording a joint position of at least one joint (20) of the robot (10); calculating tool databased on the at least one joint position in each calibration position (34) and based on a kinematic model of the robot (10), the tool data comprising a definition of the tool center point (32); determining an error of the calculated tool data; and modifying at least one kinematic parameter of the robot (10) based on the error to reduce the error. A control system (16) for calibrating a tool (14) of an industrial robot (10) and an industrial robot (10) comprising the control system (16), are also provided.

公开(公告)号：WO2020169212A1

公开(公告)日：2020-08-27

申请号：PCT/EP2019/054482

申请日：2019-02-22

Applicant: ABB SCHWEIZ AG

Inventor： NOREN, Johan ,  ANDERSSON, Hans ,  HANSSEN, Sven

IPC: B25J9/16 ,  B25J9/00

Abstract: A method of calibrating a delta robot (12), the method comprising executing an arm movement (54) by moving one driving link (32a, 32b, 32c) relative to other two driving links (32a, 32b, 32c); measuring a movement of a point (50) in fixed relationship with a tilting body (24) during the arm movement (54) as an arm measurement; executing a tilting movement (56) by tilting the tilting body (24) about a fifth axis (44); measuring a movement of the point (50) during the tilting movement (56) as a tilting measurement; and calibrating a fourth axis (40) based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis (44), a control system (26), and a robot system (10) are also provided.

公开(公告)号：WO2017063711A1

公开(公告)日：2017-04-20

申请号：PCT/EP2015/074019

申请日：2015-10-16

Applicant: ABB SCHWEIZ AG

Inventor： GÖRANSSON, Andreas ,  FIXELL, Peter ,  VIILUP, Siim ,  DANIELSSON, Stefan ,  HANSSEN, Sven ,  ANDERSSON, Hans ,  OLSSON, Mats

IPC: B25J19/06 ,  B25J9/16 ,  B25J19/00 ,  F16B21/12

CPC classification number: B25J19/00 ,  B25J9/1692 ,  B25J19/065 ,  F16B19/02 ,  F16B31/021

Abstract: A shear pin (80) for calibrating an industrial robot (10), the shear pin (80) comprising an elongated body (90) comprising a weakening defining a break location in case of overload. The shear pin (80) is configured to be mounted to a calibration pin holder (20) on the robot (10). A maximum force that the calibration pin can exert on the robot (10) during calibration can be easily limited by dimensioning the weakening appropriately.

Abstract translation: 用于校准工业机器人（10）的剪切销（80），所述剪切销（80）包括细长主体（90），所述细长主体包括在过载情况下限定断裂位置的弱化部。 安全销（80）被构造成安装到机器人（10）上的校准销保持器（20）。 在校准过程中，校准针可以施加在机器人（10）上的最大力可以通过适当设定弱化的尺寸来容易地受到限制。