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1. 发明申请

WO2017133781A1 CONTROLLING AN INDUSTRIAL ROBOT USING INTERACTIVE COMMANDS 审中-公开
标题翻译：用交互命令控制工业机器人
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
申请人： ABB SCHWEIZ AG
发明人： DAHLBERG, Annika , LUNDBERG, Ivan , STYRUD, Jonathan , NORDVALL, Martin , SJÖBERG, Ralph , GROTH, Tomas
IPC分类号： B25J9/16 , G05B19/423
CPC分类号： B25J9/1656 , G05B19/423 , G05B2219/35444 , G05B2219/40625
摘要： 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.
摘要翻译：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。

2. 发明申请

WO2017133755A1 A METHOD AND A SYSTEM FOR ALIGNING A TOOL DURING PROGRAMMING OF AN INDUSTRIAL ROBOT 审中-公开
标题翻译：一种用于在工业机器人的程序设计中对齐工具的方法和系统
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
申请人： ABB SCHWEIZ AG
发明人： DAHLBERG, Annika , LUNDBERG, Ivan , STYRUD, Jonathan , NORDVALL, Martin , SJÖBERG, Ralph , GROTH, Tomas
IPC分类号： G05B19/423
CPC分类号： G05B19/423 , G05B2219/36425
摘要： 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.
摘要翻译：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。}}}

3. 发明申请

WO2020200468A1 SYSTEM FOR OPTIMIZING ROBOT PERFORMANCE 审中-公开
公开(公告)号：WO2020200468A1
公开(公告)日：2020-10-08
申请号：PCT/EP2019/058585
申请日：2019-04-05
申请人： ABB SCHWEIZ AG
发明人： ENBERG, Markus , GROTH, Tomas
IPC分类号： B25J9/16
摘要： The present invention relates to a system and a method, for assisting a user in programming a robot (10). Storage circuitry comprises predefined possible values for a physical condition of at least two joints (1-7), the values being subdivided into two or more ranges. Processing circuitry is arranged to acquire a first path (20) of the TCP (11), receive, for each of a plurality of points of the first path (20) and for the joints (1-7), a value associated with the physical condition at the respective points, determine which of said ranges the value is associated with, generate at least one additional path (21-25),associate each of the at least two joints (1-7) to a respective path, and send instructions to a display, to illustrate the first path (20) and the additional path (21-25), together with the information of which range the values are associated with at the plurality of points of the paths.

4. 发明申请

WO2020030284A1 METHOD FOR CONTROLLING MOVEMENT OF A ROBOT 审中-公开
公开(公告)号：WO2020030284A1
公开(公告)日：2020-02-13
申请号：PCT/EP2018/071778
申请日：2018-08-10
申请人： ABB SCHWEIZ AG
发明人： GROTH, Tomas , WAHRBURG, Arne
IPC分类号： B25J9/16
摘要： A robot comprises a plurality of links (51, 52) connected by rotatably driven joints (61, 62,..., 66). A method for controlling movement of the robot comprises the steps of a) defining a target speed vector of a reference point (7) of the robot in Cartesian space; b) determining rotation speeds ( Formula (I)) of the joints (61, 62,..., 66) which minimize a weighted sum, the weighted sum having for summands i) a discrepancy ( Formula (II) ) between the target speed vector ( Formula (III) ) and an actual speed vector ( Formula (IV) ) calculated from actual rotation speeds of the joints; and ii) a rate of change ( Formula (V) ) of the target rotation speeds; and c) setting the rotation speeds ( Formula (I) ) determined in step (b) as target rotation speeds of the joints.

5. 发明申请

WO2020030272A1 METHOD FOR ESTIMATING A WRENCH 审中-公开
公开(公告)号：WO2020030272A1
公开(公告)日：2020-02-13
申请号：PCT/EP2018/071631
申请日：2018-08-09
申请人： ABB SCHWEIZ AG
发明人： CLEVER, Debora , DAI, Fan , DING, Hao , GROTH, Tomas , MATTHIAS, Dr. Björn , WAHRBURG, Arne
IPC分类号： B25J9/16
摘要： The invention is about a method for estimating a wrench acting on a reference point of a robot, comprising the steps of a) measuring at least one, but not all components of the wrench, and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking the measured components into account

6. 发明申请

WO2018233880A1 METHOD OF DETERMINING A JOINT TORQUE IN A JOINT OF AN ARTICULATED INDUSTRIAL ROBOT 审中-公开
公开(公告)号：WO2018233880A1
公开(公告)日：2018-12-27
申请号：PCT/EP2018/052877
申请日：2018-02-06
申请人： ABB SCHWEIZ AG
发明人： MATTHIAS, Björn , DING, Hao , MELLANDER, Roger , GROTH, Tomas
IPC分类号： B25J9/16
摘要： Method of determining a joint torque in a joint (1) of an articulated industrial robot (2), said robot having a first arm (4) and a second arm (6) which are coupled to each other by said joint (1) and which are movable relative to each other by an electric drive unit (8) coupled to said first (4) and second arm (6), wherein said electric drive unit (8) is controlled by an electronic control device (10) and wherein a measuring device (12) is assigned to said electric drive unit (8) which measures the electric current supplied to the drive unit (8), characterized in that an actual value of the torque (T A ) which is applied to said second arm (6) is determined from said measured electric current( I U , I V ) and that said electronic control device (10) compares said determined actual torque value (T A ) with a predetermined desired torque value (T D ) for said joint (1).

7. 发明申请

WO2016198099A1 METHOD AND CONTROLLER SYSTEM FOR CONTROLLING BACKLASH 审中-公开
标题翻译：用于控制背光的方法和控制器系统
公开(公告)号：WO2016198099A1
公开(公告)日：2016-12-15
申请号：PCT/EP2015/062870
申请日：2015-06-10
申请人： ABB SCHWEIZ AG
发明人： JONSSON, Ingvar , GROTH, Tomas
IPC分类号： G05B19/404 , G05B19/401 , B25J9/16
CPC分类号： B25J9/1641 , B25J9/1692 , G05B19/401 , G05B19/404 , G05B2219/41034 , Y10S901/09
摘要： The present disclosure relates to a method of controlling backlash by means of a first gear (G1) driven by a first motor (M1) and a second gear (G2) driven by a second motor (M2), which first gear (G1) and second gear (G2) are mechanically connected in parallel with a third actuator gear (G3) forming a gear train (9), which drives for example a robot arm (19).The backlash is determined or calibrated for a plurality of positions of the gear train (9), wherein the gears (G1,G2) are driven in opposite directions and their positions are measured, while the backlash is determined out of the measured positions. When operating the gear train (9) of the robot arm (19), the backlash is reduced by controlling the gears (G1,G2) on the basis of the previously determined backlash, wherein the gears (G1,G2) are driven with an opposite directional torque. In case the total torque of the actuator gear (G3) needs to be increased, e.g. due to a heavy load, the torque of the braking motor (M1) is gradually released and both motors (M1,M2) are driven in the same direction.
摘要翻译：本公开涉及通过由第一马达（M1）驱动的第一齿轮（G1）和由第二马达（M2）驱动的第二齿轮（G2）来控制齿隙的方法，所述第一齿轮（G1）和第二齿轮（G2）与形成齿轮系（9）的第三致动器齿轮（G3）并联机械连接，该齿轮系驱动例如机器人臂（19）。该齿隙被确定或校准为多个位置齿轮系（9），其中齿轮（G1，G2）沿相反方向被驱动并且其位置被测量，同时在测量位置之外确定齿隙。当操作机器人手臂（19）的齿轮系（9）时，通过基于先前确定的齿隙控制齿轮（G1，G2）来减小齿隙，其中齿轮（G1，G2）用相反的方向力矩。在需要增加致动器齿轮（G3）的总扭矩的情况下，例如，由于重负载，制动马达（M1）的扭矩逐渐释放，并且两个马达（M1，M2）沿同一方向被驱动。

8. 发明申请

WO2021213639A1 METHOD OF CONTROLLING INDUSTRIAL ROBOT, CONTROL SYSTEM AND ROBOT SYSTEM 审中-公开
公开(公告)号：WO2021213639A1
公开(公告)日：2021-10-28
申请号：PCT/EP2020/061134
申请日：2020-04-22
申请人： ABB SCHWEIZ AG
发明人： GROTH, Tomas , OLSSON, Tomas
IPC分类号： B25J9/16
摘要： A method of controlling an industrial robot (12), the method comprising visualizing a nominal path (32) of the industrial robot (12), the nominal path (32) being associated with a nominal trajectory (34) of the industrial robot (12); visualizing indications (40) of values of at least one parameter of the industrial robot (12) as when executing the nominal trajectory (34), for evaluating a risk potential of a physical contact between the industrial robot (12) and a human (20); receiving a user input related to the nominal trajectory (34); modifying the nominal trajectory (34) based on the user input to provide a modified trajectory (44); and executing the modified trajectory (44) by the industrial robot (12). A control system (14) and an industrial robot (12) are also provided.

9. 发明申请

WO2017097377A1 AN INDUSTRIAL ROBOT AND A METHOD FOR CONTROLLING THE ROBOT TO AUTOMATICALLY SELECT WHICH PROGRAM CODE TO BE EXECUTED NEXT 审中-公开
标题翻译：工业机器人及控制机器人自动选择要执行的程序代码的方法
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
申请人： ABB SCHWEIZ AG
发明人： DAHLBERG, Annika , LUNDBERG, Ivan , STYRUD, Jonathan , NORDVALL, Martin , SJÖBERG, Ralph , GROTH, Tomas
IPC分类号： G05B19/42 , B25J9/16
CPC分类号： G05B19/42 , B25J9/1656 , G05B2219/39453 , G05B2219/50049
摘要： 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.
摘要翻译：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。

10. 发明公开

EP3946826A1 SYSTEM FOR OPTIMIZING ROBOT PERFORMANCE 审中-实审
公开(公告)号：EP3946826A1
公开(公告)日：2022-02-09
申请号：EP19716387.6
申请日：2019-04-05
申请人： ABB Schweiz AG
发明人： ENBERG, Markus , GROTH, Tomas
IPC分类号： B25J9/16

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