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Stig Moberg

Torgny Brogardh

Torgny Brogårdh

Torgny Brog&aring;rdh

Ingvar Jonsson

Sven Hanssen

Staffan Elfving

Jesper Bergsjö

Mats Olov Olsson

Sönke Kock

Anders Lager

Siim Viilup

Ulf Carlsson

Hans Andersson

Görgen Johansson

Peter Fixell

Tommy Svensson

Mats Myhr

Svante Gunnarsson

Mikael Norrlof

Geir Hovland

Magnus Ahlbäck

Dan Rylander

Daniel Eriksson

Fredrik Skantze

Christian H Müller

Andreas Olevik

Mats Olsson

Henrik Nilsson

A method, device, and computer program product for compensating robot movement deviations caused by a gear box as well as to a robot arrangement including such a device. The device has a drift estimating block configured to obtain motor data ({dot over (q)}) and motor torque data (&#x3c4;) related to the motor, determine a measure of the temperature of the gear box based on the motor data ({dot over (q)}) and motor torque data (&#x3c4;) and estimate the drift (&#x394;q) based on a drift value of the robot section, the drift value in turn being obtained based on the gearbox temperature measure and a gravitational torque (&#x3c4;) of the motor, and a drift adjusting block () configured to adjust a control value (q) used to control the positioning of the robot based on the estimated drift (&#x394;q).

Compensating robot movement deviations

An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.

Determining a calibration position of a robot joint

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

An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.

Control method for a robot

A method for an industrial robot to increase accuracy in movements of the robot. A first path is formed by bringing a tool supported by the robot to adopt a plurality of generated positions. A plurality of observed positions of the tool moving along the first path are determined. A second path is formed of the determined tool positions. A correction is determined by a path deviation between geometrically determined positions in the first path and the second path.

Pathcorrection for an industrial robot

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 determining a number of load parameters (m , x , r , &agr; , I , I , I ) for a load ( ) which is carried by a manipulator. The manipulator comprises a number of links ( ) which are movable in relation to one another, a handling member ( ) for supporting a tool, which handling member is movable in relation to said links, a number of axes (A -A ) around which the links or the handling member are/is movable as well as a motor for each axis which drives the movement of the axis in accordance with supplied reference values for the torque of the motor. According to the method, the manipulator adopts two selected axis configurations. A number of identification axes are appointed. The manipulator is run such that the identification axes carry out a plurality of movements according to predetermined patterns. During these movements, the motor torque and the axis angle are measured. The moments of gravitational force of the identification axes are calculated on the basis of measured motor torques during a first movement. The mass inertia is calculated with correlation between measured motor torques and calculated acceleration during a second movement. The load parameters are calculated from the calculated moments of gravitational force and the mass inertias with the aid of the movement equations of the identification axes.

Method for determining load parameters for a manipulator

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

Stig Moberg