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1. 发明授权

US06343243B1 Method for determining load parameters for a manipulator 失效
标题翻译：确定机械手负载参数的方法
公开(公告)号：US06343243B1
公开(公告)日：2002-01-29
申请号：US09367504
申请日：1999-09-27
申请人： Torgny Brogårdh , Stig Moberg
发明人： Torgny Brogårdh , Stig Moberg
IPC分类号： G05B1500
CPC分类号： B25J9/1638 , B25J9/1653 , G05B2219/39007 , G05B2219/40527
摘要： A method for determining a number of load parameters (ml, xl, rl, &agr;l, Ix, Iy, Iz) for a load (6) which is carried by a manipulator. The manipulator comprises a number of links (2,3,4) which are movable in relation to one another, a handling member (5) for supporting a tool, which handling member is movable in relation to said links, a number of axes (A1-A6) around which the links or the handling member are/is movable as well as a motor for each axis which drives the movement of the axis in accordance with supplied reference values for the torque of the motor. According to the method, the manipulator adopts two selected axis configurations. A number of identification axes are appointed. The manipulator is run such that the identification axes carry out a plurality of movements according to predetermined patterns. During these movements, the motor torque and the axis angle are measured. The moments of gravitational force of the identification axes are calculated on the basis of measured motor torques during a first movement. The mass inertia is calculated with correlation between measured motor torques and calculated acceleration during a second movement. The load parameters are calculated from the calculated moments of gravitational force and the mass inertias with the aid of the movement equations of the identification axes.
摘要翻译：用于确定由操纵器携带的负载（6）的负载参数（ml，x1，rl，alphal，Ix，Iy，Iz）的数量的方法。操纵器包括可相对于彼此移动的多个连杆（2,3,4），用于支撑工具的操纵构件（5），该操纵构件可相对于所述连杆移动，多个轴（ A1-A6），链节或处理构件可移动，以及用于每个轴的马达，其驱动轴线的运动，根据所提供的马达的扭矩的参考值。根据该方法，机械手采用两种选择的轴配置。指定了多个识别轴。运行机械手使得识别轴根据预定模式执行多个运动。在这些运动中，测量电动机转矩和轴角。基于在第一次运动期间的测量的电机转矩来计算识别轴的重力的时刻。通过测量的电机转矩和第二次运动期间计算的加速度之间的相关性来计算质量惯量。借助于识别轴的运动方程，从计算的重力和质量惯性力矩计算载荷参数。

2. 发明申请

US20150100156A1 Adjusting Parameters Of A Dynamical Robot Model 有权
标题翻译：动态机器人模型的调整参数
公开(公告)号：US20150100156A1
公开(公告)日：2015-04-09
申请号：US14570806
申请日：2014-12-15
申请人： Ingvar Jonsson , Stig Moberg , Sven Hanssen
发明人： Ingvar Jonsson , Stig Moberg , Sven Hanssen
IPC分类号： B25J9/16 , G05B13/04
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.
摘要翻译：一种用于调整基础上的工业机器人的动力学模型的方法，机器人布置和计算机程序产品。所述参数确定装置包括具有所述机器人的第一动力学模型的模型存储器，所述第一动力学模型包括表示所述机器人的动力特性的第一模型参数; 以及第二动力学模型，所述第二动力学模型包括所述机器人要附着的基础，所述第二动力学模型包括表示所述基础的动力特性的第二模型参数，以及参数调整单元，通过排序所述致动器来获取关于所述基础的动力特性的信息移动机器人并通过从检测器接收受运动影响的至少一个属性的测量; 并且基于所述基础的动力特性来设定所述第二模型参数中的至少一个。

3. 发明授权

US07872436B2 Control method for a robot 有权
标题翻译：机器人的控制方法
公开(公告)号：US07872436B2
公开(公告)日：2011-01-18
申请号：US10557774
申请日：2004-05-19
申请人： Sönke Kock , Christian H Müller , Torgny Brogårdh , Jesper Bergsjö , Andreas Olevik , Stig Moberg
发明人： Sönke Kock , Christian H Müller , Torgny Brogårdh , Jesper Bergsjö , Andreas Olevik , Stig Moberg
IPC分类号： G05B19/404
CPC分类号： B25J9/1641 , G05B13/025 , G05B2219/41156
摘要： An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.
摘要翻译：一种用于控制具有至少一个旋转轴和/或平移轴的工业机器人的装置，方法和控制系统。机器人在每个轴线处包括至少一个致动器或电动机，用于驱动机器人的臂的运动和每个可旋转轴上的至少一个传感器。用于产生周期信号的抖动信号发生器用于向致动器的伺服器提供变化的抖动信号。提供抖动信号的自动适配。用于执行该方法和图形用户界面的计算机程序。

4. 发明授权

US07130718B2 Pathcorrection for an industrial robot 有权
标题翻译：工业机器人的路径矫正
公开(公告)号：US07130718B2
公开(公告)日：2006-10-31
申请号：US10257254
申请日：2001-04-09
申请人： Svante Gunnarsson , Mikael Norrlof , Geir Hovland , Ulf Carlsson , Torgny Brogardh , Tommy Svensson , Stig Moberg
发明人： Svante Gunnarsson , Mikael Norrlof , Geir Hovland , Ulf Carlsson , Torgny Brogardh , Tommy Svensson , Stig Moberg
IPC分类号： G06F19/00
CPC分类号： B25J9/1638 , B25J9/1641 , B25J9/1692 , G05B2219/36415 , G05B2219/39024 , G05B2219/39033 , G05B2219/39056 , G05B2219/39176 , G05B2219/39181 , G05B2219/39191 , G05B2219/41084 , Y02P90/86
摘要： A method for an industrial robot to increase accuracy in movements of the robot. A first path is formed by bringing a tool supported by the robot to adopt a plurality of generated positions. A plurality of observed positions of the tool moving along the first path are determined. A second path is formed of the determined tool positions. A correction is determined by a path deviation between geometrically determined positions in the first path and the second path.
摘要翻译：一种用于提高机器人运动精度的工业机器人的方法。通过使由机器人支撑的工具采用多个生成位置来形成第一路径。确定沿着第一路径移动的工具的多个观察位置。由确定的工具位置形成第二路径。校正由第一路径和第二路径中几何确定的位置之间的路径偏差确定。

5. 发明申请

US20070260356A1 Control Method for a Robot 有权
标题翻译：机器人控制方法
公开(公告)号：US20070260356A1
公开(公告)日：2007-11-08
申请号：US10557774
申请日：2004-05-19
申请人： Sonke Kock , Christian Muller , Torgny Brogardh , Jesper Bergsjo , Andreas Olevik , Stig Moberg
发明人： Sonke Kock , Christian Muller , Torgny Brogardh , Jesper Bergsjo , Andreas Olevik , Stig Moberg
IPC分类号： G05B15/00
CPC分类号： B25J9/1641 , G05B13/025 , G05B2219/41156
摘要： An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.
摘要翻译：一种用于控制具有至少一个旋转轴和/或平移轴的工业机器人的装置，方法和控制系统。机器人在每个轴线处包括至少一个致动器或电动机，用于驱动机器人的臂的运动和每个可旋转轴上的至少一个传感器。用于产生周期信号的抖动信号发生器用于向致动器的伺服器提供变化的抖动信号。提供抖动信号的自动适配。用于执行该方法和图形用户界面的计算机程序。

6. 发明授权

US07084595B2 Method for thermal optimization 失效
标题翻译：热优化方法
公开(公告)号：US07084595B2
公开(公告)日：2006-08-01
申请号：US10472223
申请日：2002-03-14
申请人： Torgny Brogårdh , Magnus Ahlbäck , Jesper Bergsjö , Staffan Elfving , Anders Lager , Stig Moberg , Mats Myhr , Dan Rylander
发明人： Torgny Brogårdh , Magnus Ahlbäck , Jesper Bergsjö , Staffan Elfving , Anders Lager , Stig Moberg , Mats Myhr , Dan Rylander
IPC分类号： G05B11/01
CPC分类号： B25J9/1664 , G05B2219/39361
摘要： Method for optimizing the movement performance of an industrial robot for a current movement path with respect to thermal load on the driving system of the robot, wherein the method comprises the following steps: for at least one component in the driving system, the thermal load is calculated for the whole or parts of the movement path if the calculated thermal load is compared with a maximally allowed load for the component; and dependent on said comparison, a course of accelerations and velocities for the current movement path are adjusted.
摘要翻译：一种用于优化机器人相对于机器人的驱动系统上的热负荷的当前移动路径的工业机器人的运动性能的方法，其中所述方法包括以下步骤：对于驱动系统中的至少一个部件，热负载为如果将计算的热负荷与部件的最大允许负载进行比较，则计算移动路径的整体或部分; 并且依赖于所述比较，调整当前运动路径的加速度和速度的过程。

7. 发明授权

US06218801B1 Method for supervision of the movement control of a manipulator 有权
标题翻译：操纵器运动控制监控方法
公开(公告)号：US06218801B1
公开(公告)日：2001-04-17
申请号：US09403612
申请日：2000-03-07
申请人： Torgny Brogårdh , Staffan Elfving , Ingvar Jonsson , Stig Moberg , Fredrik Skantze
发明人： Torgny Brogårdh , Staffan Elfving , Ingvar Jonsson , Stig Moberg , Fredrik Skantze
IPC分类号： G05B2302
CPC分类号： B25J9/1674 , G05B2219/39178 , G05B2219/39187 , G05B2219/39194 , G05B2219/39237 , G05B2219/40226 , G05B2219/42307
摘要： A method for supervision of the movement control of a manipulator. The manipulator comprises at least one movement axis, a servo (9) for controlling the axis in accordance with supplied reference values for position, speed and acceleration (&psgr;ref, {dot over (&psgr;)}ref, {umlaut over (&psgr;)}ref). A plurality of dynamic parameters (dyn-par) are calculated in dependence on reference values for the position and speed of the axis and a dynamic model (7) which describes the static and dynamic properties of the robot. A torque signal (&tgr;mr) is generated by the servo in dependence on the control error torque (&tgr;err) of the servo. An alarm value (LV) is calculated as a function of the current acceleration ({umlaut over (&psgr;)}m), at least any of the dynamic parameters and one or more of the following signals: the control error torque (&tgr;err) of the servo, the reference value for the acceleration ({umlaut over (&psgr;)}ref) and the torque signal from the servo (&tgr;mr), and while using one or more signal filters. An alarm limit (LG) is calculated as a function of one or more of the following parameters: a constant, the current position (&psgr;m), the current speed ({dot over (&psgr;)}m), the current acceleration ({umlaut over (&psgr;)}m) any of the dynamic parameters, the control error torque (&tgr;err) of the servo, the reference value for the acceleration ({umlaut over (&psgr;)}ref) and the torque signal from the servo (&tgr;mr). The alarm value is compared with the alarm limit and an alarm signal (ALARM) is generated in dependence on the comparison.
摘要翻译：一种用于监视机械手的运动控制的方法。操纵器包括至少一个移动轴线，伺服机构（9），用于根据提供的位置，速度和加速度的参考值（psiref，{dot over（psi）} ref，{umlaut over（psi）} ref ）。根据轴的位置和速度的参考值和描述机器人的静态和动态属性的动态模型（7）来计算多个动态参数（dyn-par）。根据伺服的控制误差转矩（＆Tgr; err），伺服产生转矩信号（＆tgr; mr）。计算报警值（LV）作为当前加速度（{umlaut over（psi）} m）的函数，至少动态参数和以下信号中的一个或多个：控制误差转矩（＆tgr; err ），加速度的参考值（{umlaut over（psi）} ref）和来自伺服（＆tgr; mr）的转矩信号，以及使用一个或多个信号滤波器时。根据一个或多个以下参数计算报警极限（LG）：常数，当前位置（psim），当前速度（{dot over（psi）} m），当前加速度（{umlaut 超过（psi）} m）任何动态参数，伺服的控制误差转矩（＆Tgr; err），加速度的参考值（{umlaut over（psi）} ref）和来自伺服的转矩信号＆tgr; mr）。将报警值与报警限值进行比较，并根据比较生成报警信号（ALARM）。

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