公开(公告)号：US09069351B2

公开(公告)日：2015-06-30

申请号：US11791760

申请日：2005-11-07

Applicant: Håkan Brantmark ,  Mattias Falk ,  Görgen Johansson

Inventor： Håkan Brantmark ,  Mattias Falk ,  Görgen Johansson

IPC: B25J9/16 ,  G05B19/4155 ,  G05B19/418

CPC classification number: G05B19/41825 ,  G05B2219/32159 ,  G05B2219/32247 ,  G05B2219/40097 ,  G05B2219/40113 ,  G05B2219/40308 ,  G05B2219/45137 ,  Y02P90/083 ,  Y02P90/087 ,  Y02P90/20

Abstract: A system and a method for controlling movements of an industrial robot during a work cycle including visiting and performing work on a plurality of workstations in a work cell. The system includes a set of predefined workstations. Each workstation includes preprogrammed robot code adapted to the workstation, an entry point defining the entrance position to the workstation, and one or more predefined paths to be followed by the robot at the workstation. A user interface is adapted to provide information about the predefined workstations and allows an operator to select one or more of the predefined workstations and to specify a desired part flow between the workstations. A scheduling unit is adapted during execution of the work cycle to schedule the execution order for the workstations based on the workstations selected from the predefined workstations and the desired part flow, and to control the movements of the robot based on the scheduled execution order and the predefined paths.

Abstract translation: 一种用于在工作循环期间控制工业机器人的移动的系统和方法，包括在工作单元中的多个工作站上访问和执行工作。 该系统包括一组预定义的工作站。 每个工作站包括适用于工作站的预编程机器人代码，定义工作站的入口位置的入口点以及工作站处机器人遵循的一个或多个预定义的路径。 用户界面适于提供关于预定义工作站的信息，并且允许操作者选择一个或多个预定义的工作站并指定工作站之间的所需部分流程。 在执行工作循环期间调整调度单元以基于从预定义的工作站和期望的部件流程中选择的工作站来调度工作站的执行顺序，并且基于所调度的执行顺序来控制机器人的移动，并且 预定义路径。

公开(公告)号：US06836702B1

公开(公告)日：2004-12-28

申请号：US10458785

申请日：2003-06-11

Applicant: Torgny Brogårdh ,  Håkan Brantmark ,  Zhongxue Gan ,  Gregory Rossano ,  Xiongzi Li ,  Yunquan Sun ,  Quing Tang

Inventor： Torgny Brogårdh ,  Håkan Brantmark ,  Zhongxue Gan ,  Gregory Rossano ,  Xiongzi Li ,  Yunquan Sun ,  Quing Tang

IPC: G06F1900

CPC classification number: B25J9/1664 ,  B23K26/04 ,  B23K26/0884 ,  B25J9/1692 ,  G05B19/4083 ,  G05B19/425 ,  G05B2219/36404 ,  G05B2219/36407

Abstract: A method for fine tuning of a robot program for a robot application comprising an industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft′, Yft′, Zft′.

Abstract translation: 一种用于机器人应用的机器人程序的微调方法，所述机器人程序包括工业机器人，工具和工具，所述工具由所述工具沿着包括所述工件上的多个所需姿势的路径处理，所述机器人程序包括： 包含与期望姿势相对应的程序化姿势的程序指令，其中该方法包括：定义微调坐标系Xft，Yft，Zft，选择所述编程姿态pi中的一个，在微调坐标系中计算所述选定姿势，产生程序 用于在微调坐标系中的所述选定姿态的指令，由机器人运行所述一个或多个程序指令，确定在运行程序指令之后获得的姿态与所需姿势之间的差异，根据所述姿势调整微调坐标系 在调整的微调坐标系Xft'，Yft'中产生用于所述选定姿态的程序指令， ，Zft'。