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1. WO1997029890 - A METHOD FOR CONTROL OF AN INDUSTRIAL ROBOT ALONG A GIVEN TRACK

Publication Number WO/1997/029890
Publication Date 21.08.1997
International Application No. PCT/SE1997/000059
International Filing Date 15.01.1997
Chapter 2 Demand Filed 30.05.1997
IPC
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
CPC
B25J 9/163
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
163learning, adaptive, model based, rule based expert control
B25J 9/1674
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1674characterised by safety, monitoring, diagnostic
G05B 2219/39243
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
39Robotics, robotics to robotics hand
39243Adaptive trajectory tracking
G05B 2219/40453
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
40Robotics, robotics mapping to robotics vision
40453Maximum torque for each axis
Applicants
  • ASEA BROWN BOVERI AB [SE]/[SE] (AllExceptUS)
  • ELFVING, Staffan [SE]/[SE] (UsOnly)
  • SNELL, John-Erik [SE]/[SE] (UsOnly)
Inventors
  • ELFVING, Staffan
  • SNELL, John-Erik
Agents
  • LUNDBLAD VANNESJÖ, Katarina
Priority Data
9600527-714.02.1996SE
Publication Language English (EN)
Filing Language Swedish (SV)
Designated States
Title
(EN) A METHOD FOR CONTROL OF AN INDUSTRIAL ROBOT ALONG A GIVEN TRACK
(FR) PROCEDE DE COMMANDE D'UN ROBOT INDUSTRIEL SE DEPLAÇANT SELON UNE TRAJECTOIRE DONNEE
Abstract
(EN)
A method for control 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 ($g(t)korr) supplied thereto. First, those axis angles ($g(f)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 ($g(t) = ($g(t)1, $g(t)2 ... $g(t)6)) is calculated which is required for assuming the next position. The load (t) is calculated at one or more mechanically critical points for the calculated axis angles ($g(f)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 ($g(t)) is compared with a maximum permissible torque ($g(t)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 $g(t)korr = ($g(t)korr1, $g(t)korr2 ... $g(t)korr6) are calculated in dependence on the reduced track speed.
(FR)
Procédé de commande du déplacement d'un robot industriel selon une trajectoire donnée (P1-P4) et à une vitesse voulue (v), ledit robot industriel ayant un certain nombre d'axes de déplacement et, pour chaque axe, des organes asservis commandant le déplacement axial en fonction de valeurs de référence ($g(t)korr) fournis auxdits organes. Dans un premier temps, on calcule les angles d'axe ($g(f)i) nécessaires au déplacement vers la position suivante sur la trajectoire. En fonction des angles d'axe ainsi calculés et d'un premier modèle mathématique décrivant les propriétés statiques et dynamiques du robot, on calcule, pour chacun des axes de déplacement, le couple ($g(t) = ($g(t)1, $g(t)2 ... $g(t)6)) nécessaire au déplacement vers la position suivante. On calcule la charge (t) en un ou plusieurs points critiques mécaniques pour les angles d'axe calculés ($g(f)i), à l'aide d'un second modèle mathématique décrivant la charge du robot au niveau de ces points critiques. Pour chacun des axes, on compare le couple ainsi calculé ($g(t)) avec un couple maximal admissible ($g(t)max), et on compare la charge (t) avec une charge maximale admissible (tmax) pour le point critique. Au cas où le couple calculé dépasserait le couple maximal admissible pour l'un quelconque des axes, ou la charge calculée dépasserait la charge maximale admissible pour l'un quelconque des points critiques, on réduit la vitesse (v) et on calcule les valeurs de référence pour le système asservi $g(t)korr = ($g(t)korr1, $g(t)korr2 ... $g(t)korr6) en fonction de cette vitesse réduite.
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