发明申请
WO2018149502A1 A METHOD FOR CONTROLLING AN INDUSTRIAL ROBOT DURING LEAD-THROUGH PROGRAMMING OF THE ROBOT AND AN INDUSTRIAL ROBOT
审中-公开
基本信息:
- 专利标题： A METHOD FOR CONTROLLING AN INDUSTRIAL ROBOT DURING LEAD-THROUGH PROGRAMMING OF THE ROBOT AND AN INDUSTRIAL ROBOT
- 申请号：PCT/EP2017/053671 申请日：2017-02-17
- 公开(公告)号：WO2018149502A1 公开(公告)日：2018-08-23
- 发明人： HENRIKSSON, Adam , ARANDA MUNOZ, Alvaro , VARTIAINEN, Elina , BLOM, Jonatan , RALPH, Maria
- 申请人： ABB SCHWEIZ AG
- 申请人地址： Brown Boveri Strasse 6 5400 Baden CH
- 专利权人： ABB SCHWEIZ AG
- 当前专利权人： ABB SCHWEIZ AG
- 当前专利权人地址： Brown Boveri Strasse 6 5400 Baden CH
- 代理机构： SAVELA, Reino
- 主分类号： B25J9/16
- IPC分类号： B25J9/16 ; G05B19/423
摘要：
The present invention relates to an industrial robot (1) comprising a manipulator (3) and a robot controller (2) configured to control the motions of the manipulator. The robot controller is configured during lead-through programming of the robot to compare a robot position or a robot orientation (TCP) with at least one virtual position (12) or virtual orientation defined in space, and to actively control the motions of the robot in relation to the at least one virtual position (12) or virtual orientation when the difference between the robot position or robot orientation and the least one virtual position or virtual orientation is smaller than an offset value (L).
IPC结构图谱:
| B | 作业；运输 |
| --B25 | 手动工具；轻便机动工具；手动器械的手柄；车间设备；机械手 |
| ----B25J | 机械手；装有操纵装置的容器 |
| ------B25J9/00 | 程序控制机械手 |
| --------B25J9/16 | .程序控制 |