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Ingvar Jonsson

Torgny Brogardh

Stig Moberg

Torgny Brog&aring;rdh

Staffan Elfving

Sven Hanssen

Görgen Johansson

Daniel Eriksson

Fredrik Skantze

For controlling a robot in a safe way, a highest voltage required for a desired robot movement is calculated. A voltage level in a DC-bus is set on the basis of the highest voltage, and current is supplied to a motor at a robot axis from the DC-bus. By limiting the voltage level in the DC-bus to correspond to an actual need for a desired robot movement at each instant unnecessary fast robot movements are prevented even in the event that an inverter controlling motor currents would by mistake attempt to drive the motor faster than desired by the operator.

Robot control with improved safety

The present invention relates to a resolver positioning system for a robot, which system is connectable to a battery supply () and is drivable in a pulsed mode. The system comprising: a resolver () arranged to detect an axis position of a robot; a first comparator () connected to the resolver for reading of a first resolver value from the resolver, wherein the first comparator comprises means (-) to provide two different reference levels for the first resolver value; a second comparator () connected to the resolver for reading of a second resolver value from the resolver, wherein the second comparator comprises means (-) to provide two different reference levels for the second resolver value; and a controller () connected to the first and second comparators, wherein the controller is configured to provide a quadrant evaluation of the axis position from the first and second resolver values.

Resolver positioning system, robot and method therefor

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.

Adjusting parameters of a dynamical robot model

Method of detecting a braking state of a braking device of a robot drive, having a frame device which, if required, applies braking forces to a rotating component of the robot drive by means of a first movable frame element. As a result, the braking device is shifted into at least two operating states, in particular a closed state or an open state. In the process, during the transition of the braking device from one state into the other, at least one measuring signal is recorded and a braking state is determined by comparing the at least one measuring signal with reference values established beforehand. The invention also relates to a braking device on which the above method can be carried out.

Braking device for a robot drive and method of detecting a braking state

An industrial robot including a tool flange at an end of an outer arm of the robot. A tool is secured to the tool flange. A sensor is configured to sense forces and/or torques applied to a tool secured to the tool flange. The sensor is built into the structure of the robot in the region of the tool flange.

Industrial robot

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;,, {dot over (&psgr;)},, {umlaut over (&psgr;)},). 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;,) is generated by the servo in dependence on the control error torque (&tgr;,) of the servo. An alarm value (LV) is calculated as a function of the current acceleration ({umlaut over (&psgr;)},), at least any of the dynamic parameters and one or more of the following signals: the control error torque (&tgr;,) of the servo, the reference value for the acceleration ({umlaut over (&psgr;)},) and the torque signal from the servo (&tgr;,), 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;,), the current speed ({dot over (&psgr;)},), the current acceleration ({umlaut over (&psgr;)},) any of the dynamic parameters, the control error torque (&tgr;,) of the servo, the reference value for the acceleration ({umlaut over (&psgr;)},) and the torque signal from the servo (&tgr;,). The alarm value is compared with the alarm limit and an alarm signal (ALARM) is generated in dependence on the comparison.

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Västerås, Sweden

Ingvar Jonsson