Method for controlling an industrial robot by touch

US10150214B2 · kind B2 · utility

Assignee

• ABB Schweiz AG · CH

Inventors

• Henrik Jerregard · Hagfors, SE
• Tomas Groth · Västerås, SE

Key dates

• Filing date: Mar 31, 2015
• Grant date: Dec 11, 2018
• Expiry date: Mar 31, 2035

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/41387
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A robot and method for controlling an industrial robot, which has a first robot arm, a second robot arm, a joint defining a kinematic pair between the first and second robot arms, an actuator for generating relative movement between the first and second robot arms, and a robot controller for controlling the movements of the actuator. The method includes the steps of: determining a presence of a first torque indication at the actuator to be interpreted as a first command to the robot controller; repeatedly obtaining an external torque value (τext) to obtain an external torque behavior; comparing the external torque behavior with the first torque indication; and executing a robot function corresponding to the first command upon detecting that the external torque behavior corresponds to the first torque indication. The obtained external torque behavior depends on a reference torque value (τref) obtained from a dynamic model of the robot.