US 11,897,137 B2
Method of identifying robot model automatically and safely
Bojun Ma, Shanghai (CN); Wengui Pan, Shanghai (CN); and Yanjun Wang, Shanghai (CN)
Assigned to ABB SCHWEIZ AG, Baden (CH)
Filed by ABB Schweiz AG, Baden (CH)
Filed on Aug. 28, 2020, as Appl. No. 17/005,442.
Application 17/005,442 is a continuation of application No. PCT/CN2018/083438, filed on Apr. 17, 2018.
Prior Publication US 2020/0391381 A1, Dec. 17, 2020
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1653 (2013.01) [B25J 9/1674 (2013.01); G05B 2219/33105 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method for robot control, comprising:
obtaining at least one parameter from at least one motor in response to a request from a controller, the at least one parameter associated with a characteristic of the at least one motor arranged in a robot to be controlled by a controller;
determining a first identity of the robot based on the at least one parameter,
wherein the first identity identifies the at least one motor arranged in the robot;
comparing the first identity with a second identity,
wherein the second identity is stored in the controller;
determining an identity of the robot to be controlled by the controller from other robots based on the comparison,
wherein the robot is distinguished from the other robots based on the at least one parameter associated with the at least one motor arranged in the robot; and
in response to the first identity matching the second identity, controlling operations of the robot with the controller;
wherein obtaining the at least one parameter comprises:
sending at least one excitation signal to at least one motor of the robot from the controller,
receiving at least one feedback signal that is provided by the at least one motor in response to the at least one excitation signal, and
determining the at least one parameter based on the at least one feedback signal and the at least one excitation signal.