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公开(公告)号：US11279027B2
公开(公告)日：2022-03-22
申请号：US17169575
申请日：2021-02-08
Applicant: ABB Schweiz AG
Inventor： Debora Clever , Fan Dai , Hao Ding , Tomas Groth , Bjoern Matthias , Arne Wahrburg
IPC: B25J9/16
Abstract: A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, 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 into account the measured components.
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公开(公告)号：US20210260754A1
公开(公告)日：2021-08-26
申请号：US17317920
申请日：2021-05-12
Applicant: ABB Schweiz AG
Inventor： Pablo Rodriguez , Benjamin Kloepper , Arzam Muzaffar Kotriwala , Marcel Dix , Debora Clever , Fan Dai
Abstract: A method for applying machine learning to an application includes: a) generating a set of candidate parameters by a learner; b) executing a program in at least one simulated application based on the set of candidate parameters and providing interim results of tested sets of candidate parameters based on a measured performance information of the execution of the program; c) collecting a predetermined number of interim results and providing an end result based on a combination of the candidate parameters and the measured performance information by a trainer; and d) generating a new set of candidate parameters by the learner based on the end result for execution by the unchanged program.
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公开(公告)号：US20240017410A1
公开(公告)日：2024-01-18
申请号：US18473453
申请日：2023-09-25
Applicant: ABB Schweiz AG
Inventor： Nima Enayati , Arne Wahrburg , Debora Clever , Mikael Norrlöf , Giacomo Spampinato , Mattias Björkman
IPC: B25J9/16
CPC classification number: B25J9/1664 , B25J9/1682
Abstract: A method for trajectory planning in a robotic system comprising at least two robotic units includes a state vector of each robotic unit, which comprises position components and velocity components and is variable with time and independently from input into every other robotic unit. A trajectory defines the motion of said robotic units from an initial state to a final state and is determined by finding the trajectory that minimizes a predetermined cost function. The cost function is set to be a function of the state vectors of all robotic units, and is minimized under a constraint which defines a vector difference between at least the position components of the state vectors of said robotic units at an instant of said trajectory.
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公开(公告)号：US20210264317A1
公开(公告)日：2021-08-26
申请号：US17317926
申请日：2021-05-12
Applicant: ABB Schweiz AG
Inventor： Pablo Rodriguez , Benjamin Kloepper , Arzam Muzaffar Kotriwala , Marcel Dix , Debora Clever , Fan Dai
Abstract: A method for applying machine learning to an application includes: a) generating a candidate policy by a learner; b) executing a program in at least one simulated application based on a set of candidate parameters provided based on the candidate policy and a state of the at least one simulated application, execution of the program providing interim results of tested sets of candidate parameters based on a measured performance information of the execution of the program; c) collecting a predetermined number of interim results and providing an end result based on a combination of the candidate parameters and/or the state with the measured performances information by a trainer; and d) generating a new candidate policy by the learner based on the end result.
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公开(公告)号：US11833697B2
公开(公告)日：2023-12-05
申请号：US17172098
申请日：2021-02-10
Applicant: ABB Schweiz AG
Inventor： Debora Clever , Fan Dai
CPC classification number: B25J9/1697 , B25J9/161 , B25J9/1605 , B25J9/1666 , B25J13/089
Abstract: A method of programming an industrial robot includes: providing the robot, the robot having a robot arm with an end-effector mounted thereto which is controlled by a robot control unit to manipulate a workpiece which is arranged in a workplace of the robot; associating a target coordinate system with the workplace; taking an image of the workplace and the workpiece by an image capturing device; transmitting the image to a computing device having a human-machine-interface to generate control code for controlling the robot, which is transmitted to the robot control unit; capturing an image of the workplace and the workpiece to be manipulated by the robot; transferring the captured image to the computing device and displaying the captured image on a display associated with the computing device; and displaying the workpiece on the display; marking the workpiece with a marker-object on the display.
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Patent Agency Ranking
公开(公告)号：US20230134409A1
公开(公告)日：2023-05-04
申请号：US17977119
申请日：2022-10-31
Applicant: ABB Schweiz AG
Inventor： Christoph Byner , Rene Kirsten , Bjoern Matthias , Debora Clever , Harald Staab
Abstract: A robot system includes a robot, the robot including a base and an end effector that is movable relative to the base; and a processing target, the processing target being approachable by the end effector along at least one preferred direction; wherein the processing target is mounted movably relative to the base at least temporarily and at least in the preferred direction.
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公开(公告)号：US20230126429A1
公开(公告)日：2023-04-27
申请号：US18088085
申请日：2022-12-23
Applicant: ABB Schweiz AG
Inventor： Bjoern Matthias , Christoph Byner , Debora Clever , Rene Kirsten
Abstract: A system and method for testing the padding of a robotic manipulator includes at least one sensor; a processing unit; and an output unit. The at least one sensor is configured to acquire sensor data of a robotic manipulator. The at least one sensor is configured to provide the sensor data to the processing unit. The processing unit is configured to determine information relating to padding applied to the robotic manipulator, wherein the determination comprises a comparison of the sensor data with reference data. The output unit is configured to output the information relating to the padding applied to the robotic manipulator.
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公开(公告)号：US20240367320A1
公开(公告)日：2024-11-07
申请号：US18773977
申请日：2024-07-16
Applicant: ABB Schweiz AG
Inventor： Arne Wahrburg , Nuo Li , Björn Matthias , René Kirsten , Roger Mellander , Debora Clever , Christoph Byner , Harald Staab , Silke Klose
IPC: B25J9/16
Abstract: A method for implementing a safety configuration for a manipulator comprising an end effector comprises: a) reading an action instruction from a manipulator control program, the instruction defining at least one of a path to be followed by the end effector, a target position to be reached by the end effector, a target pose to be assumed by the end effector and an action to be carried out by a tool wielded by the end effector; b) reading at least one constraint instruction from the manipulator control program, the constraint instruction defining a constraint to be observed while carrying out an action instruction; and c) carrying out the action instruction read in step a) while respecting the constraint defined in the at least one constraint instruction, or transferring the manipulator into a safety mode if violation of the at least one constraint is detected while carrying out the action instruction.
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公开(公告)号：US20240017411A1
公开(公告)日：2024-01-18
申请号：US18475574
申请日：2023-09-27
Applicant: ABB Schweiz AG
Inventor： Arne Wahrburg , Nima Enayati , Debora Clever , Mikael Norrlöf , Mattias Björkman , Giacomo Spampinato , Jonas Haulin
CPC classification number: B25J9/1664 , B25J13/089 , B25J9/1653
Abstract: A method for controlling displacement of a robot from an initial pose to a target pose includes providing a movement command, which specifies at least the target pose and an nominal path to be followed from the initial pose to the target pose; associating with the command an allowed deviation from the nominal path; identifying a real path that deviates from the nominal path by no more than the allowed deviation; and controlling the robot to move along said real path.
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公开(公告)号：US20210162600A1
公开(公告)日：2021-06-03
申请号：US17172098
申请日：2021-02-10
Applicant: ABB Schweiz AG
Inventor： Debora Clever , Fan Dai
Abstract: A method of programming an industrial robot includes: providing the robot, the robot having a robot arm with an end-effector mounted thereto which is controlled by a robot control unit to manipulate a workpiece which is arranged in a workplace of the robot; associating a target coordinate system with the workplace; taking an image of the workplace and the workpiece by an image capturing device; transmitting the image to a computing device having a human-machine-interface to generate control code for controlling the robot, which is transmitted to the robot control unit; capturing an image of the workplace and the workpiece to be manipulated by the robot; transferring the captured image to the computing device and displaying the captured image on a display associated with the computing device; and displaying the workpiece on the display; marking the workpiece with a marker-object on the display.
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