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:
Aug. 08, 2023
Filed:
Feb. 09, 2021
Abb Schweiz Ag, Baden, CH;
Tomas Groth, Vaesteras, SE;
Arne Wahrburg, Darmstadt, DE;
ABB Schweiz AG, Baden, CH;
Abstract
A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (∥{dot over (x)}−J{dot over (q)}∥) between the target speed vector ({dot over (x)}) and an actual speed vector ({dot over (x)}) calculated from actual rotation speeds of the joints; and ii) a rate of change of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}) determined in step (b) as target rotation speeds of the joints.