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US 6,230,079 B1Granted
Method for control of an industrial robot
AssigneeAsea Brown Boveri AG
InventorsTorgny Brogårdh, Håkan Dahlquist, Staffan Elfving, Tord Henriksson
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AssigneeAsea Brown Boveri AG
InventorsTorgny Brogårdh, Håkan Dahlquist, Staffan Elfving, Tord Henriksson
Estimating the term…
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 (τi) during a predetermined period of time (Δt) is calculated on the basis of the output signals (φ1,φ2 . . . φ6) from the position sensors and a mathematical model of the robot. Further, the rate of fatigue ( Δ D i Δ t ) of the point is calculated on the basis of the calculated load and with knowledge of the fatigue strength (Nij) of the material at the critical point. The performance (φaxis,max, τaxis,max) of the robot is adjusted in dependence on the rate of fatigue and the desired service life (tlife) of the robot.
A method for control of an industrial robot, which has a plurality of movement axes with a position sensor for each of said axes for supplying an output signal defining a current position of the axis to a control system for control of the axes of the robot, wherein continuously during operation of the robot, the following steps are taken for at least one mechanically critical point (i) of the robot:
Dependencies are inferred from the claim text.