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1. (WO2017036519) DEVICE, SYSTEM AND METHOD FOR TEACHING A POSITION WITH A HAND-HELD POSITION TEACHING DEVICE

Pub. No.:    WO/2017/036519    International Application No.:    PCT/EP2015/069983
Publication Date: Fri Mar 10 00:59:59 CET 2017 International Filing Date: Thu Sep 03 01:59:59 CEST 2015
IPC: B25J 9/16
G05B 19/409
G05B 19/423
Applicants: ABB SCHWEIZ AG
Inventors: DAI, Fan
WAHRBURG, Arne
MATTHIAS, Björn
DING, Hao
Title: DEVICE, SYSTEM AND METHOD FOR TEACHING A POSITION WITH A HAND-HELD POSITION TEACHING DEVICE
Abstract:
Hand-held position teaching device (12, 42, 82, 104) and a method for teaching a robot a position and an orientation with a Hand-held position teaching device, wherein the teaching device comprises a teaching device-TCP (18, 56), force sensors (32, 50, 52) and inertial sensors (20, 58) and its' coordinate system is calibrated to the robots' coordinate system, and wherein the teaching device is held in the desired position and orientation and transmits the teaching device-TCP position and orientation to the robot controller (116) to be stored. The user (102) may also apply force to a gripper (44, 48, 84, 88) of the teaching device and grip a workpiece (108, 110) in order to teach a gripping function. The robot controller may afterwards use the plurality of stored positions and orientations to control and move the robot. This is significantly easier than moving the whole robot arm with a teaching device mounted thereon or controlled by it. The user interface of the gripper comprises springs.