Pathcorrection for an industrial robot
AssigneeABB AB
InventorsSvante Gunnarsson, Mikael Norrlof, Geir Hovland, Ulf Carlsson, Torgny Brogardh, Tommy Svensson, Stig Moberg
Life of this patent
Estimating the term…
Abstract
A method for an industrial robot to increase accuracy in movements of the robot. A first path is formed by bringing a tool supported by the robot to adopt a plurality of generated positions. A plurality of observed positions of the tool moving along the first path are determined. A second path is formed of the determined tool positions. A correction is determined by a path deviation between geometrically determined positions in the first path and the second path.
Claims26
A method for an industrial robot to increase accuracy in movements of the robot, the method comprising:
- forming a first path comprising a plurality of generated positions;
- directing a tool supported by the robot to assume the plurality of generated positions;
- determining a plurality of observed positions of the tool as the tool is directed to assume the plurality of generated positions;
- forming a second path of the observed tool positions;
- and
- determining a correction by a path deviation between the observed positions and the generated positions.
A control system for an industrial robot comprising:
- a program module;
- an interpreter module;
- a trajectory generator;
- a module for inverse kinematics;
- a servo;
- an axis-angle measurer;
- a measuring module;
- a module for calculation of path deviation, which receives data from the trajectory generator and from the measuring module.
A computer program, comprising:
- a computer readable medium;
- and
- instructions recorded on the computer readable medium for influencing a processor to control a robot, for increasing the accuracy in the movements of the robot, the instructions for carrying out the steps of
- forming a first path comprising a plurality of generated positions, directing a tool supported by the robot to assume the plurality of generated positions,
- determining a plurality of observed positions of the tool as the tool is directed to assume the plurality of generated positions,
- forming a second path of the observed tool positions, and
- determining a correction by a path deviation between the observed positions and the generated positions.
A method to increased accuracy in movements of an industrial robot, the method comprising:
- forming a predefined path comprising a plurality of generated positions;
- directing a tool supported by the robot to assume the plurality of generated positions;
- determining a plurality of observed positions of the tool as the tool is directed to assume the plurality of generated positions;
- forming an actual tool path of the observed tool positions;
- determining a path deviation between the actual tool path and the predefined path;
- and
- determining at least one correction that will result in bringing the actual tool path closer to the predefined path.
Dependencies are inferred from the claim text.