Method for controlling movement of a robot

US11717962B2 · kind B2 · utility

Assignee

• ABB Schweiz AG · CH

Inventors

• Tomas Groth · Västerås, SE
• Arne Wahrburg · Darmstadt, DE

Key dates

• Filing date: Feb 9, 2021
• Grant date: Aug 8, 2023
• Expiry date: Jan 17, 2042

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/50391
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (∥{dot over (x)}refk−J{dot over (q)}refk∥W) between the target speed vector ({dot over (x)}ref) and an actual speed vector ({dot over (x)}act) calculated from actual rotation speeds of the joints; and ii) a rate of change of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}ref) determined in step (b) as target rotation speeds of the joints.