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1. 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）。

2. 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。

3. 发明授权

US06230079B1 Method for control of an industrial robot 失效
标题翻译：一种工业机器人的控制方法
公开(公告)号：US06230079B1
公开(公告)日：2001-05-08
申请号：US09077733
申请日：1998-06-09
申请人： Torgny Brogårdh , Håkan Dahlquist , Staffan Elfving , Tord Henriksson
发明人： Torgny Brogårdh , Håkan Dahlquist , Staffan Elfving , Tord Henriksson
IPC分类号： G05B1500
CPC分类号： B25J9/1628 , G05B2219/37252 , G05B2219/39247
摘要： A method for control of an industrial robot, which has a plurality of movement axes with a position sensor for each of said axes which is adapted to deliver an output signal which defines the current position of the axis, and a control system for control of the axes of the robot. Continuously during operation of the robot for at least one mechanically critical point (i) of the robot, the relevant load (&tgr;i) during a predetermined period of time (&Dgr;t) is calculated on the basis of the output signals (&phgr;1,&phgr;2 . . . &phgr;6) from the position sensors and a mathematical model of the robot. Further, the rate of fatigue ( Δ ⁢ ⁢ D i Δ ⁢ ⁢ t ) of the point is calculated on the basis of the calculated load and with knowledge of the fatigue strength (Nij) of the material at the critical point. The performance (&phgr;axis,max, &tgr;axis,max) of the robot is adjusted in dependence on the rate of fatigue and the desired service life (tlife) of the robot.
摘要翻译：一种用于控制工业机器人的方法，所述工业机器人具有多个运动轴，所述运动轴具有用于每个所述轴的位置传感器，所述位置传感器适于传送限定所述轴的当前位置的输出信号，以及用于控制所述轴的控制系统机器人的轴。在机器人的至少一个机械临界点（i）的操作期间连续地，在预定时间段（DELTAt）期间，基于输出信号（phi1，phi2）计算相关负载（i） ... phi6）和机器人的数学模型。此外，该点的疲劳速率是根据计算出的载荷和在临界点的材料的疲劳强度（Nij）的知识来计算的。机器人的性能（phiaxis，max，＆tgr，axis，max）根据机器人的疲劳速率和所需的使用寿命（tlife）进行调整。

4. 发明授权

US06226565B1 Method for control of an industrial robot along a given track 失效
标题翻译：沿给定轨道控制工业机器人的方法
公开(公告)号：US06226565B1
公开(公告)日：2001-05-01
申请号：US09101532
申请日：1998-07-10
申请人： Staffan Elfving , John-Erik Snell
发明人： Staffan Elfving , John-Erik Snell
IPC分类号： G05B1904
CPC分类号： B25J9/163 , B25J9/1674 , G05B2219/39243 , G05B2219/40453
摘要： A method for control of the movement of the movement of an industrial robot along a given track (P1-P4) with a desired track speed (v), which industrial robot has a number of movement axes and for each axis servo equipment for control of the axis movement in accordance with reference values ({overscore (&tgr;)}korr) supplied thereto. First, those axis angles ({overscore (&phgr;)}i) which are needed for assuming the next position on the track are calculated. In dependence on the calculated axis angles and a first mathematical model, which describes the static and dynamic properties of the robot, for each one of the movement axes that torque ({overscore (&tgr;)}=(&tgr;1, &tgr;2 . . . &tgr;6)) is calculated which is required for assuming the next position. The load (t) is calculated at one or more mechanically critical points for the calculated axis angles ({overscore (&phgr;)}i) with the aid of a second mathematical model, which describes the load of the robot at the critical points. For each one of the axes, the calculated torque ({overscore (&tgr;)}) is compared with a maximum permissible torque, ({overscore (&tgr;)}max), and the load (t) is compared with a maximum permissible load (tmax) for the critical point. If the calculated torque exceeds the maximum permissible torque for any axis, or if the calculated load exceeds the maximum permissible load for any critical point, then the track speed (v) is reduced and the reference values for the servo system {overscore (&tgr;)}korr=(&tgr;korr1, &tgr;korr2 . . . &tgr;korr6, are calculated in dependence on the reduced track speed.
摘要翻译：一种用于控制工业机器人沿着给定轨道（P1-P4）的运动以期望的轨道速度（v）的运动的方法，该工业机器人具有多个运动轴线，并且每个轴线伺服设备用于控制根据提供给它的参考值（{overscore（＆tgr;）} korr）的轴运动。首先，计算在轨道上假定下一个位置所需的那些轴角（{overscore（phi）} i）。根据计算的轴角度和第一个数学模型，其描述了机器人的静态和动态特性，对于扭矩（{overscore（＆tgr））=（＆tgr; 1，＆tgr; 2）的每个运动轴。。。＆tgr; 6））是假定下一个位置所需的。在第二个数学模型的帮助下，针对计算出的轴角度（{overscore（phi）} i）的一个或多个机械临界点计算负载（t），该第二数学模型描述了机器人在临界点的负载。对于每个轴，将计算的扭矩（{overscore（＆tgr;）}）与最大允许扭矩（{overscore（＆tgr;）} max）进行比较，并将负载（t）与允许的最大值临界点的负载（tmax）。如果计算出的扭矩超过任何轴的最大允许扭矩，或者如果计算的载荷超过任何临界点的最大允许负载，则轨道速度（v）将减小，伺服系统的参考值（过大（＆tgr; ）} korr =（＆tgr; korr1，＆tgr; korr2。。＆tgr; korr6，根据减小的轨道速度计算。

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