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1. 发明申请

WO2022207075A1 A METHOD FOR CONTROLLING DISPLACEMENT OF A ROBOT 审中-公开
公开(公告)号：WO2022207075A1
公开(公告)日：2022-10-06
申请号：PCT/EP2021/058259
申请日：2021-03-30
申请人： ABB SCHWEIZ AG , WAHRBURG, Arne , ENAYATI, Nima , CLEVER, Debora , NORRLÖF, Mikael , BJORKMAN, Mattias , SPAMPINATO, Giacomo , HAULIN, Jonas
发明人： WAHRBURG, Arne , ENAYATI, Nima , CLEVER, Debora , NORRLÖF, Mikael , BJORKMAN, Mattias , SPAMPINATO, Giacomo , HAULIN, Jonas
IPC分类号： B25J9/16
摘要： A method for controlling displacement from an initial pose (A) to a target pose (B) of a robot (1) which is displaceable in a plurality of coordinates, comprises the steps of a) providing a movement command which specifies at least the target pose (B) and an nominal path (C) to be followed from the initial pose to the target pose (S1), b) associating to the command an allowed deviation from the nominal path (S2), and c) identifying a real path (C') which deviates from the nominal path by not more than the allowed deviation (S3-S5, S9) and d) controlling the robot (1) to move along said real path (S11).

2. 发明申请

WO2017036519A1 DEVICE, SYSTEM AND METHOD FOR TEACHING A POSITION WITH A HAND-HELD POSITION TEACHING DEVICE 审中-公开
标题翻译：使用手持位置教学装置教导位置的装置，系统和方法
公开(公告)号：WO2017036519A1
公开(公告)日：2017-03-09
申请号：PCT/EP2015/069983
申请日：2015-09-02
申请人： ABB SCHWEIZ AG
发明人： DAI, Fan , WAHRBURG, Arne , MATTHIAS, Björn , DING, Hao
IPC分类号： B25J9/16 , G05B19/409 , G05B19/423
CPC分类号： G05B19/423 , B25J9/1656 , G05B19/409 , G05B2219/36451 , G05B2219/36453
摘要： Hand-held position teaching device (12, 42, 82, 104) and a method for teaching a robot a position and an orientation with a Hand-held position teaching device, wherein the teaching device comprises a teaching device-TCP (18, 56), force sensors (32, 50, 52) and inertial sensors (20, 58) and its' coordinate system is calibrated to the robots' coordinate system, and wherein the teaching device is held in the desired position and orientation and transmits the teaching device-TCP position and orientation to the robot controller (116) to be stored. The user (102) may also apply force to a gripper (44, 48, 84, 88) of the teaching device and grip a workpiece (108, 110) in order to teach a gripping function. The robot controller may afterwards use the plurality of stored positions and orientations to control and move the robot. This is significantly easier than moving the whole robot arm with a teaching device mounted thereon or controlled by it. The user interface of the gripper comprises springs.
摘要翻译：手持位置教学装置（12,42,82,104）以及用于通过手持式位置教学装置向机器人指示位置和姿势的方法，其中所述教学装置包括教学装置-TCP（18,56 ），力传感器（32,50,52）和惯性传感器（20,58），并且其坐标系被校准到机器人的坐标系，并且其中教导装置保持在期望的位置和方向并且传送教导设备-TCP位置和定向到要存储的机器人控制器（116）。用户（102）还可以向教导装置的夹持器（44,48,84,88）施加力并且夹紧工件（108,110）以便教导夹紧功能。机器人控制器可以随后使用多个存储的位置和方向来控制和移动机器人。这比使用安装在其上或由其控制的教学装置来移动整个机器人手臂显着简单。夹持器的用户界面包括弹簧。

3. 发明申请

WO2020069717A1 A TROLLEY 审中-公开
公开(公告)号：WO2020069717A1
公开(公告)日：2020-04-09
申请号：PCT/EP2018/076619
申请日：2018-10-01
申请人： ABB SCHWEIZ AG
发明人： WAHRBURG, Arne
IPC分类号： B62B5/00 , B62B5/06
摘要： The present invention relates to a trolley (10). The trolley comprises a frame (20), a plurality of wheels (30), at least one motor (40), a handle (50), a plurality of sensor elements (60), and a processing unit (70). The plurality of wheels are rotational connected to the frame and configured to support the trolley on the ground. The plurality of wheels comprises at least one actuator wheel (80) that is configured to be driven by the at least one motor. The handle is connected to the frame and is configured to be held by a person. The plurality of sensor elements are integrated into the handle. The plurality of sensor elements are configured to generate detection signals when the handle is held by the person. The plurality of sensor elements are configured to provide the detection signals to the processing unit. The processing unit is configured to utilize the detection signals to drive the at least one actuator wheel via the at least one motor.

4. 发明申请

WO2019162109A1 ROBOT SYSTEM AND OPERATION METHOD 审中-公开
公开(公告)号：WO2019162109A1
公开(公告)日：2019-08-29
申请号：PCT/EP2019/053130
申请日：2019-02-08
申请人： ABB SCHWEIZ AG
发明人： BRIQUET-KERESTEDJIAN, Nolwenn , DING, Hao , KIRSTEN, Rene , MATTHIAS, Bjoern , RODRIGUEZ, Pédro , WAHRBURG, Arne
IPC分类号： B25J9/16 , G05B19/4061 , G05B13/02
摘要： A robot system comprises a robot arm (1) comprising a plurality of links (5) and of joints (6) by which one of said links (5) is connected to another, means (9, 10) for determining, for any one of said joints (6), its angular velocity and the torque to which the joint (6) is subject, a neural network (11) which is connected to said means (9, 10) for receiving therefrom angular velocity and torque data, and which is trained to distinguish, based on said angular velocity and torque data, between a normal operation condition of the robot arm (1), a condition in which the robot arm (1) collides with an outside object and a condition where a person deliberately interacts with the robot arm (1).

5. 发明申请

WO2017036520A1 SYSTEM AND METHOD FOR GENERATING A ROBOT PROGRAM WITH A HAND-HELD TEACHING DEVICE 审中-公开
标题翻译：用手持式教学装置生成机器人程序的系统和方法
公开(公告)号：WO2017036520A1
公开(公告)日：2017-03-09
申请号：PCT/EP2015/070005
申请日：2015-09-02
申请人： ABB SCHWEIZ AG
发明人： DAI, Fan , WAHRBURG, Arne , MATTHIAS, Björn , DING, Hao
IPC分类号： G05B19/423 , B25J9/16 , G05B19/409
CPC分类号： G05B19/423 , B25J9/1664 , G05B19/409 , G05B2219/36451 , G05B2219/36453 , G05B2219/36489
摘要： A robot teaching system and method by applying a force on a teaching pendant (mechanical interaction tool 14,44,84), wherein the sensed force and teaching pendant's position and orientation is transmitted to the robot controller (20,68,116,158) to be stored. The teaching pendant may comprise a gripper with finger (46,48,86) operated by a spring mechanism (88). The robot arm is moved according to the applied force, position and orientation of the teaching pendant and a robot program is generated based on these data. During future execution of the a robot program, a robot gripper is foreseen to automatically apply a force on a workpiece or an object to be gripped, which is corresponding exactly to the afore mentioned manually applied force.
摘要翻译：一种通过在示教器（机械相互作用工具14,44,84）上施加力的机器人教学系统和方法，其中所感测的力和教导吊坠的位置和姿态被发送到要存储的机器人控制器（20,68,116,158）。示教器可以包括由弹簧机构（88）操作的手指（46,48,86）的夹持器。根据施加的力量，示教器的位置和方向移动机器人手臂，并基于这些数据生成机器人程序。在将来执行机器人程序期间，机器人夹持器被预见为在工件或待抓握的物体上自动施加力，其恰好对应于上述手动施加的力。

6. 发明申请

WO2017211967A1 LIMITING TORQUE NOISE BY SIMULTANEOUS TUNING OF SPEED PI CONTROLLER PARAMETERS AND FEEDBACK FILTER TIME CONSTANT 审中-公开
标题翻译：同步调节速度PI控制器参数和反馈滤波器时间常数来限制转矩噪声
公开(公告)号：WO2017211967A1
公开(公告)日：2017-12-14
申请号：PCT/EP2017/063988
申请日：2017-06-08
申请人： ABB SCHWEIZ AG
发明人： WAHRBURG, Arne
IPC分类号： G05B11/01 , G05B13/02
CPC分类号： G05B13/024 , G05B13/0265 , G05B2219/41179 , G05B2219/42152
摘要： Control circuit (3') comprising a controller (9'), a controlled system (2') and a filter (10') for smoothing a return signal (4"), wherein the controller (9') acts on the controlled system (2') by means of a control signal (6') and the return signal (4") acts on the controller (9'), characterized in that the controller (9') and the filter (10') are simultaneously adjustable, wherein the adjustment is made on the basis of a method which comprises the following steps: measuring or estimating an output signal (1'), wherein the measurement or estimate transfers the output signal (1') into the return signal (4"), determining the power density spectrum of the return signal (4"), limiting a control signal (6') of the controller (9') in such a manner that the power of the control signal (6') does not exceed a predefined limiting value.
摘要翻译：控制电路（3'）包括用于平滑返回信号（4“）的控制器（9'），受控系统（2'）和滤波器（10'），其中控制器 9'）通过控制信号（6'）作用于受控系统（2'）并且返回信号（4“）作用于控制器（9'），其特征在于控制器（9'）和滤波器（10'）同时可调，其中所述调整是基于包括以下步骤的方法进行的：测量或估计输出信号（1'），其中所述测量或估计传送所述输出信号（1'）进入返回信号（4“），确定返回信号（4”）的功率密度谱，以这样的方式限制控制器（9'）的控制信号（6'），使得控制信号 6'）不超过预定义的极限值。

7. 发明申请

WO2017036521A1 DEVICE, SYSTEM AND METHOD FOR TEACHING A POSITION WITH A HAND-HELD POSITION TEACHING DEVICE 审中-公开
标题翻译：使用手持位置教学装置教导位置的装置，系统和方法
公开(公告)号：WO2017036521A1
公开(公告)日：2017-03-09
申请号：PCT/EP2015/070007
申请日：2015-09-02
申请人： ABB SCHWEIZ AG
发明人： DAI, Fan , MATTHIAS, Björn , WAHRBURG, Arne , DING, Hao
IPC分类号： G05B19/423 , B25J9/16 , G05B19/409
CPC分类号： B25J9/1656 , G05B19/409 , G05B19/423 , G05B2219/36451 , G05B2219/36453
摘要： Hand-held position teaching device (12,42,82,104) and a method for teaching a robot a position and an orientation with a Hand-held position teaching device, wherein the teaching device comprises a teaching device-TCP (18,56), force sensors (32,50,52) and inertial sensors (20,58) and its' coordinate system is calibrated to the robots' coordinate system, and wherein the teaching device is held in the desired position and orientation and transmits the teaching device- TCP position and orientation to the robot controller (116) to be stored. The user (102) may also apply force to a gripper (44,48,84,88) of the teaching device and grip a workpiece (108,110) in order to teach a gripping function. The robot controller may afterwards use the plurality of stored positions and orientations to control and move the robot. This is significantly easier than moving the whole robot arm with a teaching device mounted thereon or controlled by it.
摘要翻译：手持位置教学装置（12,42,82,104）以及用手持位置教学装置对机器人进行位置和姿势的教学的方法，其中，所述教学装置包括教学装置-TCP（18,56）力传感器（32,50,52）和惯性传感器（20,58），并且其坐标系被校准到机器人的坐标系，并且其中教导装置保持在期望的位置和方向，并且传送教学装置 - TCP机器人控制器（116）的位置和方向被存储。用户（102）还可以向教导装置的夹持器（44,48,84,88）施加力并且夹持工件（108,110）以便教导夹紧功能。机器人控制器可以随后使用多个存储的位置和方向来控制和移动机器人。这比使用安装在其上或由其控制的教学装置来移动整个机器人手臂显着简单。

8. 发明申请

WO2022199819A1 ROBOTIC SYSTEM TRAJECTORY PLANNING 审中-公开
公开(公告)号：WO2022199819A1
公开(公告)日：2022-09-29
申请号：PCT/EP2021/057737
申请日：2021-03-25
申请人： ABB SCHWEIZ AG , ENAYATI, Nima , WAHRBURG, Arne , CLEVER, Debora , NORRLÖF, Mikael , SPAMPINATO, Giacomo , BJORKMAN, Mattias
发明人： ENAYATI, Nima , WAHRBURG, Arne , CLEVER, Debora , NORRLÖF, Mikael , SPAMPINATO, Giacomo , BJORKMAN, Mattias
IPC分类号： B25J9/16 , G05B19/418
摘要： A method for trajectory planning in a robotic system comprising at least two robotic units (1, 2, 3) is disclosed. In the method, a state vector of each robotic unit comprises position components Formula (I) and velocity components Fromula (II) and is variable with time as a function of input Formula (III) into said each robotic unit (1, 2, 3) and independently from input into every other robotic unit, and a trajectory which defines the motion of said robotic units from an initial state (X0) to a final state (XTf) is determined by finding the trajectory that minimizes a predetermined cost function (J). The cost function (J) is set (S3) to be a function of the state vectors of all of said at least two robotic units, and is minimized (S4) under a constraint which defines a vector difference between at least the position components Formula (iv) of the state vectors of said at least two robotic units (1, 3; 2, 3) at an instant (f(1), f(2)) of said trajectory.

9. 发明申请

WO2022156892A1 METHOD OF HANDLING SAFETY OF INDUSTRIAL ROBOT, AND SYSTEM 审中-公开
公开(公告)号：WO2022156892A1
公开(公告)日：2022-07-28
申请号：PCT/EP2021/051288
申请日：2021-01-21
申请人： ABB SCHWEIZ AG
发明人： NORRLÖF, Mikael , WAHRBURG, Arne , CLEVER, Debora , ENAYATI, Nima , HAULIN, Jonas , BJÖRKMAN, Mattias , SPAMPINATO, Giacomo
IPC分类号： B25J9/16 , B25J13/00
摘要： A method of handling safety of an industrial robot (14a, 14b) in a workspace (26), the method comprising providing a geometric region (48a-48e) by a monitoring system (12), where the geometric region (48a-48e) is defined in relation to the industrial robot (14a, 14b) and/or in relation to the workspace (26), and where the geometric region (48a-48e) is associated with at least one condition (50a-50e) for being fulfilled by the industrial robot (14a, 14b); communicating the geometric region (48a-48e) from the monitoring system (12) to a robot control system (16) of the industrial robot (14a, 14b); determining a movement (44) of the industrial robot (14a, 14b) by the robot control system (16) based on the geometric region (48a-48e) and the at least one condition (50a-50e); executing the movement (44) by the industrial robot (14a, 14b); and monitoring, by the monitoring system (12), the execution of the movement (44) with respect to the geometric region (48a-48e) and the at least one condition (50a-50e).

10. 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.

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