Patent · US Active

Method of determining a joint torque in a joint of an articulated industrial robot

US10821610B2 · kind B2 · utility

0Cited by

8References

12Claims

0Family size

Assignee

ABB Schweiz AG · CH

Inventors

Bjoern Matthias · Bad Schönborn, DE
Hao Ding · Macungie, US
Roger Mellander · Enköping, SE
Tomas Groth · Västerås, SE

Key dates

Filing date	Dec 19, 2019
Grant date	Nov 3, 2020
Priority date	—
Expiry date	Dec 19, 2039

Classification

Technology area (CPC G)Physics
CPC primaryG05B2219/37632
WIPO fieldHandling
WIPO sectorMechanical engineering

Abstract

A method of determining a joint torque in a joint of an articulated industrial robot, the robot having a first arm and a second arm which are coupled to each other by the joint and which are movable relative to each other by an electric drive unit coupled to the first and second arm, includes: controlling the electric drive unit by an electronic control device; assigning a measuring device to the electric drive unit, the measuring device measuring an electric current supplied to the drive unit; determining an actual value of the torque which is applied to the second arm from the measured electric current; and comparing, using the electronic control device, the determined actual torque value with a predetermined desired torque value for the joint.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.