Method and device for controlling motion of an industrial robot with a position switch

US8036776B2 · kind B2 · utility

Assignee

• ABB AB · SE

Inventors

• Magnus Hellberg · Eskilstuna, SE
• Mats Thulin · Åkersberga, SE
• Michael Fors · Arlöv, SE
• Pierre Mikaelsson · Hagfors, SE
• Tommy Thors · Hagfors, SE
• Sönke Kock · Hagfors, SE
• Kevin Behnisch · Bad Nauheim, DE
• Peter Eriksson
• Jan Bredahl · Hagfors, SE
• Bo Toresson · Säter, SE

Key dates

• Filing date: Nov 14, 2006
• Grant date: Oct 11, 2011
• Expiry date: Feb 8, 2029

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J9/1674
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit. The robot or the control unit includes at least one first computer running a servo controller. A motion limit is configured for at least one axis of the robot arm. A reference signal for a robot position is sent to a robot controller together with a measurement of a position of the robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator for the purpose of limiting the motion of an arm of the robot.