Abb Technology Ag

Cognibotics Ab

Abb Technology Ltd

Mathias Haage

Klas Nilsson

Adam Nilsson

Olof Sornmo

Bjorn Olofsson

Anders Robertsson

Tommy Y Svensson

Magnus K Gustafsson

Olof SÖRNMO

Björn Olofsson

A method and system for determining at least one property associated with a selected axis of a manipulator (). The elasticity of the links () and joints () of a manipulator () can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator () such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (). Depending on the complexity of the manipulator () and the number of properties that are of interest, the manipulator () is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator () can be determined, and a global stiffness matrix (MSM) for the total manipulator () can be determined in order to determine at least one property of the selected axis.

Method and system for determination of at least one property of a manipulator

The present invention relates to a method and a system for facilitating calibration of a robot cell including one or more objects () and an industrial robot () performing work in connection to the objects, wherein the robot cell is programmed by means of an off-line programming tool including a graphical component for generating 2D or 3D graphics based on graphical models of the objects. The system comprises a computer unit () located at the off-line programming site and configured to store a sequence of calibration points for each of the objects, and to generate a sequence of images () including graphical representations of the objects to be calibrated and the calibration points in relation to the objects, and to transfer the images to the robot, and that the robot is configured to display said sequence of images to a robot operator during calibration of the robot cell so that for each calibration point a view including the present calibration point and the object to be calibrated is displayed to the robot operator.

Method and a system for facilitating calibration of an off-line programmed robot cell

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Lund, Sweden

Mathias Haage