US 12,472,625 B2
Policy-restricted execution of a robot program with movement instructions
Roger Mellander, Västerås (SE); and Roger Dahlgren, Västerås (SE)
Assigned to ABB Schweiz AG, Baden (CH)
Appl. No. 17/998,297
Filed by ABB Schweiz AG, Baden (CH)
PCT Filed May 12, 2021, PCT No. PCT/EP2021/062735
§ 371(c)(1), (2) Date Nov. 9, 2022,
PCT Pub. No. WO2021/229004, PCT Pub. Date Nov. 18, 2021.
Claims priority of application No. PCT/EP2020/063335 (WO), filed on May 13, 2020.
Prior Publication US 2023/0211501 A1, Jul. 6, 2023
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1671 (2013.01); B25J 9/1674 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of controlling a robot manipulator on the basis of a program containing a plurality of movement instructions, the method comprising:
obtaining identification information related to a robot installation;
determining, on the basis of the identification information, whether any of the movement instructions relates to a location of the robot manipulator which is nonverified with respect to the robot installation, wherein the location is a pose, a path and/or a modulated path; and
applying, in response to a positive determination, a policy which restricts execution of the program:
wherein said determining step includes:
comparing locations to which the movement instructions relate against a collection of verified locations of the robot manipulator, and
finding the non-verified location by attempting to match the locations against the collection of verified locations.