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1. 发明授权

US06226565B1 Method for control of an industrial robot along a given track 失效
标题翻译：沿给定轨道控制工业机器人的方法
公开(公告)号：US06226565B1
公开(公告)日：2001-05-01
申请号：US09101532
申请日：1998-07-10
申请人： Staffan Elfving , John-Erik Snell
发明人： Staffan Elfving , John-Erik Snell
IPC分类号： G05B1904
CPC分类号： B25J9/163 , B25J9/1674 , G05B2219/39243 , G05B2219/40453
摘要： A method for control of the movement of the movement of an industrial robot along a given track (P1-P4) with a desired track speed (v), which industrial robot has a number of movement axes and for each axis servo equipment for control of the axis movement in accordance with reference values ({overscore (&tgr;)}korr) supplied thereto. First, those axis angles ({overscore (&phgr;)}i) which are needed for assuming the next position on the track are calculated. In dependence on the calculated axis angles and a first mathematical model, which describes the static and dynamic properties of the robot, for each one of the movement axes that torque ({overscore (&tgr;)}=(&tgr;1, &tgr;2 . . . &tgr;6)) is calculated which is required for assuming the next position. The load (t) is calculated at one or more mechanically critical points for the calculated axis angles ({overscore (&phgr;)}i) with the aid of a second mathematical model, which describes the load of the robot at the critical points. For each one of the axes, the calculated torque ({overscore (&tgr;)}) is compared with a maximum permissible torque, ({overscore (&tgr;)}max), and the load (t) is compared with a maximum permissible load (tmax) for the critical point. If the calculated torque exceeds the maximum permissible torque for any axis, or if the calculated load exceeds the maximum permissible load for any critical point, then the track speed (v) is reduced and the reference values for the servo system {overscore (&tgr;)}korr=(&tgr;korr1, &tgr;korr2 . . . &tgr;korr6, are calculated in dependence on the reduced track speed.
摘要翻译：一种用于控制工业机器人沿着给定轨道（P1-P4）的运动以期望的轨道速度（v）的运动的方法，该工业机器人具有多个运动轴线，并且每个轴线伺服设备用于控制根据提供给它的参考值（{overscore（＆tgr;）} korr）的轴运动。首先，计算在轨道上假定下一个位置所需的那些轴角（{overscore（phi）} i）。根据计算的轴角度和第一个数学模型，其描述了机器人的静态和动态特性，对于扭矩（{overscore（＆tgr））=（＆tgr; 1，＆tgr; 2）的每个运动轴。。。＆tgr; 6））是假定下一个位置所需的。在第二个数学模型的帮助下，针对计算出的轴角度（{overscore（phi）} i）的一个或多个机械临界点计算负载（t），该第二数学模型描述了机器人在临界点的负载。对于每个轴，将计算的扭矩（{overscore（＆tgr;）}）与最大允许扭矩（{overscore（＆tgr;）} max）进行比较，并将负载（t）与允许的最大值临界点的负载（tmax）。如果计算出的扭矩超过任何轴的最大允许扭矩，或者如果计算的载荷超过任何临界点的最大允许负载，则轨道速度（v）将减小，伺服系统的参考值（过大（＆tgr; ）} korr =（＆tgr; korr1，＆tgr; korr2。。＆tgr; korr6，根据减小的轨道速度计算。

2. 发明授权

US5590034A Method for controlling the movement of an industrial robot at and near singularities 失效
标题翻译：控制工业机器人在奇点附近运动的方法
公开(公告)号：US5590034A
公开(公告)日：1996-12-31
申请号：US387231
申请日：1995-02-13
申请人： John-Erik Snell
发明人： John-Erik Snell
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , G05B19/18 , G06F19/00
CPC分类号： B25J9/1643 , G05B2219/39081 , G05B2219/40328
摘要： A method for controlling an industrial robot such that a tool supported by the robot is able to follow a path which is determined by a number of consecutive points, and wherein the robot while following the path ends up near or a singularity. The robot has a plurality of movement axes and its configuration is determined by the angles of rotation of the movement axes. The angles of rotation which are to be assumed by the robot in order to obtain the desired position and orientation for the tool at the next point on the path are calculated by an iterative method. The ratio of the angular velocities of the axes to the velocity of the tool is given by a Jacobian matrix. By means of the Jacobian matrix it is determined whether the robot is at or near a singularity. The intention of the invention is to control the iteration such that the position of the tool remains correct through the singularity. A certain error in the orientation of the tool may be accepted. At a singularity the importance of the position errors is increased by weighting these errors during the iteration in relation to the orientation errors while at the same time locking the singular axes.
摘要翻译：一种用于控制工业机器人的方法，使得由机器人支撑的工具能够遵循由多个连续点确定的路径，并且其中跟随路径的机器人靠近或奇点处结束。机器人具有多个运动轴，其结构由运动轴的旋转角决定。通过迭代方法计算机器人为了获得工具在路径上的下一点获得所需位置和方向而要承担的旋转角度。轴的角速度与刀具速度的比值由雅可比矩阵给出。通过雅可比矩阵，确定机器人是否处于或接近奇点。本发明的目的是控制迭代，使得工具的位置通过奇点保持正确。可以接受工具方向上的某个错误。在奇点处，通过在迭代期间相对于取向误差对这些误差进行加权来增加位置误差的重要性，同时锁定单个轴。

3. 发明授权

US5528116A Method and device for calibration of movement axes of an industrial robot 失效
标题翻译：用于校准工业机器人的运动轴的方法和装置
公开(公告)号：US5528116A
公开(公告)日：1996-06-18
申请号：US240706
申请日：1994-05-09
申请人： John-Erik Snell
发明人： John-Erik Snell
IPC分类号： B25J9/10 , B25J9/16 , B25J9/22 , B25J13/08 , G05B19/18
CPC分类号： B25J9/1692 , G05B2219/50026
摘要： In a calibration method for an industrial robot (2-6), a calibration tool (8) supported by the robot hand (6) is brought into contact with pairwise opposite side surfaces of a calibration body (7) with a known edge length. Thereafter, the output signals from the position transducers of the robot axes are read and stored. This method is repeated a plurality of times with different robot configurations. Thereafter, the calibration parameters of the robot are calculated starting from the kinematic equations of the robot, a model of the relationship between axial position and position transducer signal, the known edge lengths of the calibration body, and the read and stored position transducer signals. (FIG. 1)
摘要翻译： PCT No.PCT / SE92 / 00804 Sec。 371日期1994年5月9日 102（e）日期1994年5月9日PCT提交1992年11月24日PCT公布。出版物WO93 / 日期：1993年6月24日。在工业机器人（2-6）的校准方法中，由机器人手（6）支撑的校准工具（8）与校准体（7）的成对相对的侧表面接触）具有已知的边长。此后，读取并存储来自机器人轴的位置传感器的输出信号。该方法在不同的机器人配置下重复多次。此后，从机器人的运动学方程，轴向位置和位置换能器信号之间的关系模型，校准体的已知边缘长度以及读取和存储的位置传感器信号开始计算机器人的校准参数。（图。

4. 发明授权

US06205839B1 Device and method for calibration of a multi-axis industrial robot 失效
标题翻译：多轴工业机器人的校准装置和方法
公开(公告)号：US06205839B1
公开(公告)日：2001-03-27
申请号：US08913887
申请日：1997-09-25
申请人： Torgny Brogårdh , John-Erik Snell
发明人： Torgny Brogårdh , John-Erik Snell
IPC分类号： G01B1126
CPC分类号： B25J9/1692 , B25J19/0041
摘要： An equipment for calibration of an industrial robot which has a plurality of axes of rotation and wherein, the equipment comprises a measuring device is adapted for rotatable connection to a reference point the position of which is known, is adapted to be in contact with the robot, or a tool carried by the robot, during the calibration process, and has an axis of rotation which intersects the reference point when the measuring device is connected to the reference point. The measuring device further comprises a gravity sensor which is so mounted so that the axis of the gravity sensor is substantially parallel to the axis of rotation of the measuring device, whereby the gravity sensor measures the angle between the gravity vector and axis of rotation.
摘要翻译：一种用于校准具有多个旋转轴线的工业机器人的设备，并且其中，所述设备包括测量装置，其适于可旋转地连接到其位置已知的参考点，其适于与机器人接触或机器人携带的工具，并且当测量装置连接到参考点时具有与参考点相交的旋转轴。该测量装置还包括重力传感器，该重力传感器被安装成使得重力传感器的轴线基本上平行于测量装置的旋转轴线，由此重力传感器测量重力矢量和旋转轴线之间的角度。

5. 发明授权

US5687293A Method and device for calibration of movement axes of an industrial robot 失效
标题翻译：用于校准工业机器人的运动轴的方法和装置
公开(公告)号：US5687293A
公开(公告)日：1997-11-11
申请号：US328447
申请日：1994-10-25
申请人： John-Erik Snell
发明人： John-Erik Snell
IPC分类号： G12B5/00 , B25J9/10 , B25J9/16 , B25J9/22 , G05B19/18 , G06F15/46
CPC分类号： B25J9/1692 , G05B2219/39015 , G05B2219/39054
摘要： In a calibration method for an industrial robot (2-6), a calibration tool (8) supported by the robot hand (6) is brought into contact a spherical calibration body (7) with a known radius. Thereafter, the output signals from the position transducers of the robot axes are read and stored. This method is repeated a plurality of times with different robot configurations. Thereafter, the calibration parameters of the robot are calculated starting from the kinematic equations of the robot, a model of the relationship between axial position and position transducer signal, the known radius of the calibration body, and the read and stored position transducer signals.
摘要翻译：在工业机器人（2-6）的校准方法中，由机器人手（6）支撑的校准工具（8）与具有已知半径的球形校准体（7）接触。此后，读取并存储来自机器人轴的位置传感器的输出信号。该方法在不同的机器人配置下重复多次。此后，从机器人的运动学方程，轴向位置和位置换能器信号之间的关系模型，已知的校准体半径以及读取和存储的位置换能器信号开始计算机器人的校准参数。

6. 发明授权

US5907229A Method and device for calibration of movement axes of an industrial robot 失效
标题翻译：用于校准工业机器人的运动轴的方法和装置
公开(公告)号：US5907229A
公开(公告)日：1999-05-25
申请号：US930008
申请日：1997-09-29
申请人： John-Erik Snell
发明人： John-Erik Snell
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , G05B19/408
CPC分类号： B25J9/1692 , G05B2219/39025
摘要： A method for calibration of an industrial robot is provided. A calibration device comprising devices for emitting a calibration beam within the working range of the robot, and an interruption detector which detects an interruption in the calibration beam are arranged. During the calibration process, a calibration tool supported by the robot hand and comprising a sphere with a known radius is moved towards the calibration beam. When an interruption in the calibration beam is detected, the output signals from the position transducers of the robot axes are read and stored. This process is repeated a plurality of times with different configurations of the robot. Thereafter, the calibration parameters of the robot are calculated based on the kinematic equations of the robot, the read and stored position transducer signals, and the known radius.
摘要翻译： PCT No.PCT / SE96 / 00376 Sec。 371日期：1997年9月29日 102（e）1997年9月29日PCT PCT 1996年3月26日PCT公布。 WO96 / 30171 PCT出版物日期1996年10月3日提供了工业机器人的校准方法。校准装置包括用于在机器人的工作范围内发射校准光束的装置和检测校准光束中断的中断检测器。在校准过程中，由机器人手支撑并且包括具有已知半径的球体的校准工具朝向校准梁移动。当检测到校准光束中断时，读取并存储来自机器人轴的位置传感器的输出信号。使用机器人的不同构造重复该过程多次。此后，机器人的校准参数基于机器人的运动学方程，读取和存储的位置传感器信号以及已知半径来计算。

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