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1. (WO2019063146) ROBOT ARM AND METHOD FOR CONTROLLING IT
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Pub. No.: WO/2019/063146 International Application No.: PCT/EP2018/066534
Publication Date: 04.04.2019 International Filing Date: 21.06.2018
IPC:
B25J 9/16 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
Applicants:
ABB SCHWEIZ AG [CH/CH]; Brown Boveri Strasse 6 5400 Baden, CH
Inventors:
STYRUD, Jonathan; SE
WAHRBURG, Arne; DE
Agent:
MARKS, Frank; DE
Priority Data:
17191592.918.09.2017EP
Title (EN) ROBOT ARM AND METHOD FOR CONTROLLING IT
(FR) BRAS DE ROBOT ET SON PROCÉDÉ DE COMMANDE
Abstract:
(EN) A robot arm (1) comprises at least one member (4, 10), a joint (5, 9) by which the member (4, 10) is connected to a support (3, 6) and which defines an axis (7, 8, 11) by which the member (4, 10) is rotatable with respect to the support (3, 6), and a motor (15, 17, 19) for driving rotation of the member (4, 10) by said axis (7, 8, 11). A method of operating the robot arm comprises the steps of a) calculating (S5) a torque (Ƭmot) output by the motor (15, 17, 19) based on motor power intake and motor rotation; b) detecting (S3) an actual rotation acceleration (I) of the member (4, 10), c) calculating (S6), based on said torque (Ƭmot), a quantity (Ƭext) representative of a discrepancy between an expected rotation acceleration of the member (4, 10) and said actual rotation acceleration (I), d) deciding that the joint is in an irregular condition if the discrepancy (II) exceeds a threshold (ε).
(FR) L'invention concerne un bras de robot (1) comprenant au moins un élément (4,10), une articulation (5, 9) par laquelle l'élément (4, 10) est relié à un support (3, 6) et qui délimite un axe (7, 8, 11) selon lequel l'élément (4, 10) peut tourner par rapport au support (3, 6), et un moteur (15, 17, 19) destiné à entraîner l'élément (4, 10) en rotation selon ledit axe (7, 8, 11). Un procédé de fonctionnement du bras de robot comprend les étapes consistant : a) à calculer (S5) un couple (Ƭmot) produit par le moteur (15, 17, 19) sur la base de l'admission de la puissance motrice et de la rotation du moteur; b) à détecter (S3) une accélération de rotation réelle (I) de l'élément (4, 10), c) à calculer (S6), sur la base dudit couple (Ƭmot), une quantité (Ƭext) représentative d'un écart entre une accélération de rotation attendue de l'élément (4, 10) et ladite accélération de rotation réelle (I), et d) à décider que l'articulation se trouve dans un état irrégulier si l'écart (II) dépasse un seuil (ε).
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)