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:
Apr. 17, 2001
Filed:
Mar. 07, 2000
Torgny Brogårdh, Västerås, SE;
Staffan Elfving, Västerås, SE;
Ingvar Jonsson, Västerås, SE;
Stig Moberg, Västerås, SE;
Fredrik Skantze, Västerås, SE;
ABB AB, Vasteras, SE;
Abstract
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.