Abb Schweiz Ag

Markus Enberg

Tomas Groth

Hans Andersson

Jakob Weström

Mikael Norrlöf

A method of controlling a manipulator of an industrial robot having a plurality of joints, the method including providing a candidate trajectory for the manipulator; determining at least one position dependent load value representative of at least one position dependent load acting on the manipulator for the candidate trajectory; modifying the candidate trajectory based on the at least one position dependent load value to provide a modified trajectory; and executing the modified trajectory by the manipulator. A control system for controlling a manipulator of an industrial robot having a plurality of joints, and an industrial robot including a manipulator and a control system, are also provided.

Method of controlling manipulator of industrial robot, control system and industrial robot

A system and a method, for assisting a user in programming a robot. Storage circuitry includes predefined possible values for a physical condition of at least two joints, the values being subdivided into two or more ranges. Processing circuitry is arranged to acquire a first path of the Tool Centre Point (TCP), receive, for each of a plurality of points of the first path and for the joints, a value associated with the physical condition at the respective points, determine which of the ranges the value is associated with, generate at least one additional path, associate each of the at least two joints to a respective path, and send instructions to a display, to illustrate the first path and the additional path, together with the information of which range the values are associated with at the plurality of points of the paths.

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Västerås, Sweden

Markus Enberg