US 12,459,119 B2
Method of controlling industrial robot, control system and robot system
Tomas Groth, Västerås (SE); and Tomas Olsson, Enköping (SE)
Assigned to ABB Schweiz AG, Baden (CH)
Appl. No. 17/996,352
Filed by ABB Schweiz AG, Baden (CH)
PCT Filed Apr. 22, 2020, PCT No. PCT/EP2020/061134
§ 371(c)(1), (2) Date Oct. 17, 2022,
PCT Pub. No. WO2021/213639, PCT Pub. Date Oct. 28, 2021.
Prior Publication US 2023/0202041 A1, Jun. 29, 2023
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1666 (2013.01) [B25J 9/1633 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method of controlling an industrial robot, the method comprising:
visualizing a nominal path of the industrial robot, the nominal path being associated with a nominal trajectory of the industrial robot;
visualizing indications that are representative of values of at least one parameter of the industrial robot as when executing the nominal trajectory, for evaluating a risk of injury of a physical contact between the industrial robot and a human should such physical contact occur, wherein the visualized indications assist in evaluating the risk of injury;
receiving a user input related to the nominal trajectory;
modifying the nominal trajectory based on the user input to provide a modified trajectory; and
executing the modified trajectory by the industrial robot wherein the indications comprise a direction associated with a respective value of the at least one parameter.