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:
Mar. 04, 2008
Filed:
Jan. 16, 2007
Hui Zhang, West Hartford, CT (US);
Zhongxue Gan, Windsor, CT (US);
Torgny Brogardh, Vasletas, SE;
Jianjun Wang, Willimantic, CT (US);
Hui Zhang, West Hartford, CT (US);
Zhongxue Gan, Windsor, CT (US);
Torgny Brogardh, Vasletas, SE;
Jianjun Wang, Willimantic, CT (US);
ABB Research Ltd., Zurich, CH;
Abstract
An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.