Abb Schweiz Ag

Jonatan Blom

Adam Henriksson

Elina Vartiainen

Jonas Larsson

Alvaro Aranda Munoz

Maria Ralph

Susanne Timsjö

An arrangement for limiting rotation, the arrangement including a base structure; a drive member rotatable relative to the base structure and having a drive feature; a stopping member having at least one driven feature, wherein the stopping member is arranged to be intermittently driven relative to the base structure between a plurality of discrete positions by a continuous rotation of the drive member and by cooperation between the drive feature and at least one driven feature, wherein the stopping member in a first end discrete position is arranged to limit rotation of the drive member in a first end position of a rotation range of the drive member; and a holding mechanism arranged to hold the stopping member in each discrete position, the holding mechanism being at least partly provided in the base structure.

Arrangement for limiting rotation, and robot

An AGV including a support structure and at least one drive unit connected to the support structure, wherein each drive unit includes a wheel rotatable about a wheel axis and about a steering axis perpendicular to the wheel axis; a wheel motor arranged to drive the wheel about the wheel axis; and a steering motor arranged to drive the wheel about the steering axis; wherein the AGV further includes at least one actuation member movable in an additional degree of freedom; and wherein the at least one actuation member is arranged to be driven by the wheel motor and/or the steering motor of at least one drive unit in the additional degree of freedom. A method of controlling an AGV is also provided.

Automated guided vehicle and method of controlling automated guided vehicle

A method of calibrating positions of wheels in an AGV, the method including positioning a second wheel tangentially on an imaginary second circle centered with respect to a center position in which a first wheel is fixed; driving the second wheel a second distance along the second circle such that the AGV rotates about the center position; determining the second distance based on data from a second wheel sensor device of the second wheel; determining an angle of rotation about the center position based on data from a first steering sensor device of the first wheel during the rotation of the AGV; and determining relative positions between the first wheel and the second wheel based on the second distance and the angle of rotation. An AGV is also provided.

Methods of calibrating positions of wheels in an automated guided vehicle, and automated guided vehicle

An industrial robot having a manipulator and a robot controller configured to control the motions of the manipulator. The robot controller is configured during lead-through programming of the robot to compare a robot position or a robot orientation (TCP) with at least one virtual position or virtual orientation defined in space, and to actively control the motions of the robot in relation to the at least one virtual position or virtual orientation when the difference between the robot position or robot orientation and the least one virtual position or virtual orientation is smaller than an offset value.

Method for controlling an industrial robot during lead-through programming of the robot and an industrial robot

An industrial robot system including a dual arm robot having two arms independently movable in relation to each other, and a hand-held control device for controlling the robot and provided with a visual display unit for displaying information about the arms. The control device is provided with a measuring device for measuring the orientation of the control device, and the control device is configured to display information about one of the arms in a first area on the display unit and to display information about the other arm in a second area on the display unit, and to change the positions of the first and second areas in dependence on the orientation of the control device in relation to the robot so that the positions of the first and second area on the display unit reflects the orientation of the control device in relation to the positions of the arms.

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Sundbyberg, Sweden

Jonatan Blom