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公开(公告)号：US09914216B2
公开(公告)日：2018-03-13
申请号：US14441349
申请日：2012-11-09
申请人： ABB Schweiz AG
发明人： Ingvar Jonsson
CPC分类号： B25J9/1656 , B25J9/1674 , G05B2219/36472
摘要： For controlling a robot in a safe way, a highest voltage required for a desired robot movement is calculated. A voltage level in a DC-bus is set on the basis of the highest voltage, and current is supplied to a motor at a robot axis from the DC-bus. By limiting the voltage level in the DC-bus to correspond to an actual need for a desired robot movement at each instant unnecessary fast robot movements are prevented even in the event that an inverter controlling motor currents would by mistake attempt to drive the motor faster than desired by the operator.
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公开(公告)号：US09616565B2
公开(公告)日：2017-04-11
申请号：US14570806
申请日：2014-12-15
申请人： ABB Schweiz AG
发明人： Ingvar Jonsson , Stig Moberg , Sven Hanssen
CPC分类号： B25J9/1605 , B25J9/1653 , G05B13/04 , G05B2219/40527 , Y10S901/02
摘要： A method, robot arrangement and computer program product for tuning a dynamical model of an industrial robot on a foundation. The parameter determining device includes a model memory with a first dynamical model of the robot, the first dynamical model including first model parameters representing dynamical properties of the robot; and a second dynamical model of a foundation to which the robot is to be attached, the second dynamical model including second model parameters representing dynamical properties of the foundation, and a parameter adjusting unit that obtains information about dynamical properties of the foundation by ordering the actuator to move the robot and by receiving, from the detector, measurements of at least one property affected by the movement; and set at least one of the second model parameters on the basis of the dynamical properties of the foundation.
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公开(公告)号：US09658084B2
公开(公告)日：2017-05-23
申请号：US14443988
申请日：2012-11-19
申请人： ABB Schweiz AG
发明人： Ingvar Jonsson
摘要： The present invention relates to a resolver positioning system for a robot, which system is connectable to a battery supply (402) and is drivable in a pulsed mode. The system comprising: a resolver (32) arranged to detect an axis position of a robot; a first comparator (80, 81) connected to the resolver for reading of a first resolver value from the resolver, wherein the first comparator comprises means (82-87) to provide two different reference levels for the first resolver value; a second comparator (80, 81) connected to the resolver for reading of a second resolver value from the resolver, wherein the second comparator comprises means (82-87) to provide two different reference levels for the second resolver value; and a controller (20) connected to the first and second comparators, wherein the controller is configured to provide a quadrant evaluation of the axis position from the first and second resolver values.
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