The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 25, 2019
Filed:
Apr. 22, 2014
Abb Schweiz Ag, Baden, CH;
Stig Moberg, Västerås, SE;
ABB Schweiz AG, Baden, CH;
Abstract
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 (τ) 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 (τ) and estimate the drift (Δq) 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 (τ) 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 (Δq).