US 12,472,626 B2
Method of controlling manipulator of industrial robot, control system and industrial robot
Markus Enberg, Västerås (SE); Hans Andersson, Västerås (SE); Mikael Norrlöf, Norrköping (SE); and Jakob Weström, Västerås (SE)
Assigned to ABB Schweiz AG, Baden (CH)
Appl. No. 18/263,911
Filed by ABB Schweiz AG, Baden (CH)
PCT Filed Feb. 11, 2021, PCT No. PCT/EP2021/053312
§ 371(c)(1), (2) Date Aug. 2, 2023,
PCT Pub. No. WO2022/171283, PCT Pub. Date Aug. 18, 2022.
Prior Publication US 2024/0083028 A1, Mar. 14, 2024
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1638 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method of controlling a manipulator of an industrial robot having a plurality of joints the method comprising:
providing a candidate trajectory for the manipulator;
determining at least one position dependent load value representative of at least one position dependent load acting on the manipulator for the candidate trajectory;
modifying the candidate trajectory based on the at least one position dependent load value to provide a modified trajectory; and
executing the modified trajectory by the manipulator,
wherein the method further includes:
providing a model describing static and dynamic properties of the manipulator, the model having a position dependent load term;
determining the at least one position dependent load value for the candidate trajectory based on the position dependent load term;
determining a load constraint of a load parameter for a mechanical component of the manipulator based on the at least one position dependent load value; and
determining the modified trajectory for the manipulator by solving an optimization problem having an objective function and the load constraint; and
wherein the load constraint is determined as a relatively low load constraint value when a position dependent load value of the position dependent load term is below a position dependent load threshold, and determined as a relatively high load constraint value when the position dependent load value is above the position dependent load threshold.