Abb Ab

Asea Brown Boveri Ab

Staffan Elfving

Torgny Brog&aring;rdh

Stig Moberg

Torgny Brogårdh

Anders Lager

Ingvar Jonsson

John-Erik Snell

Jesper Bergsjö

Mats Myhr

Dan Rylander

H&aring;kan Dahlquist

Tord Henriksson

Fredrik Skantze

Magnus Ahlbäck

Method for optimizing the movement performance of an industrial robot for a current movement path with respect to thermal load on the driving system of the robot, wherein the method comprises the following steps: for at least one component in the driving system, the thermal load is calculated for the whole or parts of the movement path if the calculated thermal load is compared with a maximally allowed load for the component; and dependent on said comparison, a course of accelerations and velocities for the current movement path are adjusted.

Method for thermal optimization

A method for control of an industrial robot, which has a plurality of movement axes with a position sensor for each of said axes which is adapted to deliver an output signal which defines the current position of the axis, and a control system for control of the axes of the robot. Continuously during operation of the robot for at least one mechanically critical point (i) of the robot, the relevant load (&tgr;,) during a predetermined period of time (&Dgr;t) is calculated on the basis of the output signals (&phgr;,,&phgr;,. . . &phgr;,) from the position sensors and a mathematical model of the robot. Further, the rate of fatigue

Method for control of an industrial robot

A method for control of the movement of the movement of an industrial robot along a given track (P,-P,) with a desired track speed (v), which industrial robot has a number of movement axes and for each axis servo equipment for control of the axis movement in accordance with reference values ({overscore (&tgr;)},) supplied thereto. First, those axis angles ({overscore (&phgr;)},) which are needed for assuming the next position on the track are calculated. In dependence on the calculated axis angles and a first mathematical model, which describes the static and dynamic properties of the robot, for each one of the movement axes that torque ({overscore (&tgr;)}&equals;(&tgr;,, &tgr;,. . . &tgr;,)) is calculated which is required for assuming the next position. The load (t) is calculated at one or more mechanically critical points for the calculated axis angles ({overscore (&phgr;)},) with the aid of a second mathematical model, which describes the load of the robot at the critical points. For each one of the axes, the calculated torque ({overscore (&tgr;)}) is compared with a maximum permissible torque, ({overscore (&tgr;)},), and the load (t) is compared with a maximum permissible load (t,) for the critical point. If the calculated torque exceeds the maximum permissible torque for any axis, or if the calculated load exceeds the maximum permissible load for any critical point, then the track speed (v) is reduced and the reference values for the servo system {overscore (&tgr;)},&equals;(&tgr;,, &tgr;,. . . &tgr;,, are calculated in dependence on the reduced track speed.

Method for control of an industrial robot along a given track

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.

Method for supervision of the movement control of a manipulator

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Västerås, Sweden

Staffan Elfving