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:
May. 08, 2001
Filed:
Jun. 09, 1998
Torgny Brogårdh, Våsterås, SE;
Håkan Dahlquist, Hässelby, SE;
Staffan Elfving, Västerås, SE;
Tord Henriksson, Västerås, SE;
Asea Brown Boveri AB, Vasteras, SE;
Abstract
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