公开(公告)号：WO2022033693A1

公开(公告)日：2022-02-17

申请号：PCT/EP2020/072779

申请日：2020-08-13

Applicant: ABB SCHWEIZ AG

Inventor： NORDVALL, Martin ,  BRÖNMARK, Jonas ,  FORTELL, Håkan

IPC: B25J9/16

Abstract: A method of controlling an industrial actuator (12), the method comprising receiving a manual input in the form of a displacement (50a-50d) of an input element (30a-30d); in response to the manual input being a displacement (50c, 50d) of the input element (30a-30d) from the neutral position (44) in a first input direction (46), controlling the industrial actuator (12) to move in a forward direction (36) along a movement path (32a, 32b) and with a speed (52) corresponding to a magnitude or a speed of the displacement (50c, 50d) from a neutral position (44); and in response to the manual input being a displacement (50a, 50b) of the input element (30a-30d) from the neutral position (44) in a second input direction (48), controlling the industrial actuator (12) to move in a backward direction (38) along the movement path (32a, 32b) and with a speed (52) corresponding to a magnitude or a speed of the displacement (50a, 50b) from the neutral position (44).

公开(公告)号：WO2017097377A1

公开(公告)日：2017-06-15

申请号：PCT/EP2015/079438

申请日：2015-12-11

Applicant: ABB SCHWEIZ AG

Inventor： DAHLBERG, Annika ,  LUNDBERG, Ivan ,  STYRUD, Jonathan ,  NORDVALL, Martin ,  SJÖBERG, Ralph ,  GROTH, Tomas

IPC: G05B19/42 ,  B25J9/16

CPC classification number: G05B19/42 ,  B25J9/1656 ,  G05B2219/39453 ,  G05B2219/50049

Abstract: The present invention relates to an industrial robot comprising a manipulator (1) and a robot control unit (2), 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 (4) 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. The invention also relates to a method for controlling the robot.

Abstract translation: 本发明涉及一种包括机械手（1）和机器人控制单元（2）的工业机器人，其中该机械手包括在控制单元的控制下移动的多个关节， 并且所述控制单元包括存储介质（4），所述存储介质包括用于在由所述控制单元执行时控制所述机器人的所述运动的程序代码。 控制单元被配置为基于机器人的位置自动选择接下来要执行的程序代码的哪一部分。 本发明还涉及用于控制机器人的方法。

公开(公告)号：WO2017133781A1

公开(公告)日：2017-08-10

申请号：PCT/EP2016/052446

申请日：2016-02-05

Applicant: ABB SCHWEIZ AG

Inventor： DAHLBERG, Annika ,  LUNDBERG, Ivan ,  STYRUD, Jonathan ,  NORDVALL, Martin ,  SJÖBERG, Ralph ,  GROTH, Tomas

IPC: B25J9/16 ,  G05B19/423

CPC classification number: B25J9/1656 ,  G05B19/423 ,  G05B2219/35444 ,  G05B2219/40625

Abstract: The present invention relates to a method for controlling an industrial robot (1) using interactive commands and a control unit (2) for controlling the motions of an industrial robot (1) based on interactive commands. The control unit comprises data storage (4) for storing at least one defined interactive command and a processing unit (6) configured to execute the interactive command upon recognizing the interactive command. The data storage (4) comprises a plurality of defined actions to be performed upon recognizing the defined interactive command, and the processing unit (6) is configured to determine the current context of the robot, to select which action to be performed based on the actions defined for the command and the current context of the robot, and to perform the selected action upon recognizing the interactive command.

Abstract translation: 本发明涉及一种使用交互式命令来控制工业机器人（1）的方法以及用于基于交互式命令来控制工业机器人（1）的运动的控制单元（2）。 控制单元包括用于存储至少一个定义的交互式命令的数据存储器（4）和被配置为在识别交互式命令时执行交互式命令的处理单元（6）。 数据存储器（4）包括在识别所定义的交互式命令时要执行的多个定义的动作，并且处理单元（6）被配置为确定机器人的当前上下文，以基于 为机器人的命令和当前上下文定义的动作，以及在识别出交互式命令时执行选择的动作。

公开(公告)号：WO2017133755A1

公开(公告)日：2017-08-10

申请号：PCT/EP2016/052124

申请日：2016-02-02

Applicant: ABB SCHWEIZ AG

Inventor： DAHLBERG, Annika ,  LUNDBERG, Ivan ,  STYRUD, Jonathan ,  NORDVALL, Martin ,  SJÖBERG, Ralph ,  GROTH, Tomas

IPC: G05B19/423

CPC classification number: G05B19/423 ,  G05B2219/36425

Abstract: The present invention relates to an industrial robot (1) comprising a movable robot arm (5) for supporting a tool (8), and a control unit (2) 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 X w , Y w , Z w . 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. The invention also relates to a method for controlling the industrial robot, and to the use of the method for teaching a robot a path (10) including a plurality of target points (12) by lead-through programming.

Abstract translation: 本发明涉及包括用于支撑工具（8）的可移动机器人臂（5）的工业机器人（1），以及配置成控制机器人的移动的控制单元（2） 。 控制单元具有对齐功能，用于使工具与至少一个指定轴X _{w ，Y w ，Z w 对齐。 控制单元被配置为监测机器人的运动并且在检测到机器人的运动已经停止并且对齐功能被激活时自动调整工具的方位以使工具与指定轴对准。 本发明还涉及一种用于控制该工业机器人的方法，并且涉及该教导机器人的方法包括多个目标点（12）的路径（10）的使用，通过编程实现。}