Method of Controlling Mechanical Impedance of Robot, Control System and Robot
AssigneeABB Schweiz AG
InventorsPietro Falco, Jonatan Blom, Jonas Larsson
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Abstract
A method of controlling a robot, the method including obtaining, by means of a proximity sensor on the robot, a distance value indicative of a distance between an object and the robot; obtaining, by means of a thermal sensor on the robot, a temperature value indicative of a temperature of the object; and controlling the robot to reduce its mechanical impedance if the distance value is smaller than a distance threshold value and the temperature value is higher than a temperature threshold value. A control system for controlling a robot, and a robot including the control system, are also provided.
Claims19
A method of controlling a robot, the method comprising:
- obtaining, by a proximity sensor on the robot a distance value indicative of a distance between an object and the robot;
- obtaining, by a thermal sensor on the robot, a temperature value indicative of a temperature of the object;
- and
- controlling the robot to reduce its mechanical impedance if the distance value is smaller than a distance threshold value and the temperature value is higher than a temperature threshold value.
A control system for controlling a robot, the control system comprising at least one data processing device and at least one memory having a computer program stored thereon, the computer program including a program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform the steps of:
- obtaining, from a proximity sensor on the robot, a distance value indicative of a distance between an object and the robot;
- obtaining, from a thermal sensor on the robot a temperature value indicative of a temperature of the object;
- and
- controlling the robot to reduce its mechanical impedance if the distance value is smaller than a distance threshold value and the temperature value is higher than a temperature threshold value.
The control system according to wherein the computer program comprises program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform the step of:
- limiting a speed of the robot if the distance value is smaller than the distance threshold value and the temperature value is higher than the temperature threshold value.
A robot comprising:
- a control system including at least one data processing device and at least one memory having a computer program stored thereon, the computer program including a program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform the steps of:
- obtaining, from a proximity sensor on the robot, a distance value indicative of a distance between an object and the robot;
- obtaining, from a thermal sensor on the robot, a temperature value indicative of a temperature of the object;
- and
- controlling the robot to reduce its mechanical impedance if the distance value is smaller than a distance threshold value and the temperature value is higher than a temperature threshold value, and
- the proximity sensor provided on the robot, and the thermal sensor, provided on the robot.
Dependencies are inferred from the claim text.