Abstract: The present invention relates to a construction method of a joint flight path to a mobile point including the step of acquiring a first state vector defining the position of the aircraft at the moment t0, acquiring a second state vector defining the position of the mobile point at each moment t after the moment t0. The method further includes determining, for each position of the mobile point, an elementary join flight path of this position of the mobile point from the position of the aircraft defined by the first state vector at the moment t0 with a capture time Tt corresponding to the time of flight of the aircraft on this flight path. The method also includes determining the flight path such that its capture time Tt is substantially equal to the time elapsed between the moment t associated with this trajectory and the moment t0.

Abstract: The present invention relates to a construction method of a joint flight path to a mobile point including the steps of acquiring a first state vector defining the position of the aircraft at the moment t0, acquiring a second state vector defining the position of the mobile point at each moment t after the moment t0, determining, for each position of the mobile point, an elementary join flight path of this position of the mobile point from the position of the aircraft defined by the first state vector at the moment t0 with a capture time Tt corresponding to the time of flight of the aircraft on this flight path, and determining and flight path such that its capture time Tt is substantially equal to the time elapsed between the moment t associated with this trajectory and the moment t0.

Abstract: A method for establishing a dynamic maintenance scheduling tool for a specific part of a machinery based on condensed prior knowledge of the part of the machinery in a population of machineries. The scheduling tool is in turn used in a method for establishing a dynamic maintenance schedule for a specific part of a specific machinery, wherein parameters related to the usage, including relevant parameters representing factors influencing the lifetime of the specific parts, are utilized as input data to the dynamic maintenance scheduling tool for the specific part of the machinery, whereupon a dynamic maintenance schedule for the specific part of the specific machinery is achieved as output data from the scheduling tool. The method is in particular dedicated to industrial robot systems.

Abstract: A remote diagnostic system for robots including a number of at least two robots, wherein a controller of each robot of the system is locally connected to a service unit provided with local processing power, a remote service center provided with a connector server is arranged, and a communications infrastructure for transferring packets of information between a controller of a robot of the system and connector server via the service unit is arranged for performing remote monitoring and diagnostics at the remote service center, wherein the communications infrastructure uses internet and/or GPRS communication lines.

Abstract: A robot service system including a robot including least one manipulator and a controller controlling the motion of the manipulator. A remote service center includes an analyzing computer, and a communication line between the robot controller and the remote service center. A monitoring component is configured to monitor the current operation of the controller and the current motions of the manipulator, and to transmit information on the current operation of the controller and the current motions of the manipulator to the remote service center. The analyzing computer is configured, upon request, to calculate new maximum permissible performance parameters for the robot based on the received information and to transmit the new maximum permissible performance parameters to the robot controller.

Abstract: A method for monitoring the condition of an industrial robot having a plurality of links movable relative to each other, and a plurality of actuators controlling the movements of the links. A feed forward torque is calculated for at least one of the actuators based on reference values for the position of the actuator and a mathematical model of the robot calculating a feedback torque for the actuators based on measured values from the actuators and reference values for the position of the actuator. A torque is calculated for the actuator at least based on the feedback torque. A difference is monitored between the calculated torque for the actuator and the feed forward torque. It is determined whether the difference is normal or non-normal, and based thereon monitoring the condition of the robot.

Abstract: An industrial robot diagnostic method including performing a condition analysis utilizing at least two selected input signals, wherein each selected input signal indicates a condition related to a property of the industrial robot, performing an analysis of any combination of the selected input signals utilizing a signal modeling of the signals and outputting from the condition analyzer a result being at least one of: a detection of a malfunction of the robot system, an identification of a root cause failure in the robot system and prediction of a potential malfunction in the robot system. Also an industrial robot system utilizing the method.

Abstract: A method and arrangement for selecting a recipient of a message. The method can be used in association with a control system that includes a processor adapted for object oriented data processing and a communicator for communication with a plurality of recipients. In the method a recipient for a message that is associated with an object is selected based on information regarding at least one association the object has with objects representing the recipients. A communication system for communication of control messages, a data signal generated for communication in a computerized control system, and a user terminal for a control system are also provided.

Abstract: A robot service system including a robot including least one manipulator and a controller controlling the motion of the manipulator. A remote service center includes an analyzing computer, and a communication line between the robot controller and the remote service center. A monitoring component is configured to monitor the current operation of the controller and the current motions of the manipulator, and to transmit information on the current operation of the controller and the current motions of the manipulator to the remote service center. The analyzing computer is configured, upon request, to calculate new maximum permissible performance parameters for the robot based on the received information and to transmit the new maximum permissible performance parameters to the robot controller.

Abstract: An industrial robot diagnostic method including performing a condition analysis utilizing at least two selected input signals, wherein each selected input signal indicates a condition related to a property of the industrial robot, performing an analysis of any combination of the selected input signals utilizing a signal modeling of the signals and outputting from the condition analyzer a result being at least one of: a detection of a malfunction of the robot system, an identification of a root cause failure in the robot system and prediction of a potential malfunction in the robot system. Also an industrial robot system utilizing the method.

Abstract: A remote diagnostic system for robots including a number of at least two robots, wherein a controller of each robot of the system is locally connected to a service unit provided with local processing power, a remote service center provided with a connector server is arranged, and a communications infrastructure for transferring packets of information between a controller of a robot of the system and connector server via the service unit is arranged for performing remote monitoring and diagnostics at the remote service center, wherein the communications infrastructure uses internet and/or GPRS communication lines.

Abstract: A method for establishing a dynamic maintenance scheduling tool for a specific part of a machinery based on condensed prior knowledge of the part of the machinery in a population of machineries. The scheduling tool is in turn used in a method for establishing a dynamic maintenance schedule for a specific part of a specific machinery, wherein parameters related to the usage, including relevant parameters representing factors influencing the lifetime of the specific parts, are utilized as input data to the dynamic maintenance scheduling tool for the specific part of the machinery, whereupon a dynamic maintenance schedule for the specific part of the specific machinery is achieved as output data from the scheduling tool. The method is in particular dedicated to industrial robot systems.

Abstract: A method for monitoring the condition of an industrial robot having a plurality of links movable relative to each other, and a plurality of actuators controlling the movements of the links. A feed forward torque is calculated for at least one of the actuators based on reference values for the position of the actuator and a mathematical model of the robot calculating a feedback torque for the actuators based on measured values from the actuators and reference values for the position of the actuator. A torque is calculated for the actuator at least based on the feedback torque. A difference is monitored between the calculated torque for the actuator and the feed forward torque. It is determined whether the difference is normal or non-normal, and based thereon monitoring the condition of the robot.

Abstract: A method for monitoring the condition of an industrial robot having a plurality of links movable relative to each other about a plurality of joints. A first value for a first mechanical property for at least one of said joints is calculated based on measured data from the joint. Whether the mechanical property is normal or non-normal is determined based on the calculated mechanical property. The condition of the robot is monitored based on the calculated first value and determination. The first value, determination and monitoring are repeatedly carried out.

Abstract: A method and arrangements of selecting a recipient of a message is disclosed. The method can be used in association with a control system (1) comprising a data processing means adapted for object oriented data processing and communication means (3) for communication with a plurality of recipients (10). In the method a recipient for a message that is associated with an object is selected based on information regarding at least one association the object has with objects representing the recipients. A communication system for communication of control messages, a data signal generated for communication in a computerised control system, and a user terminal for a control system is also disclosed.

Abstract: The present invention relates to a sheet adhesive by pressure application including a substrate covered with an adhesive on a front surface, and non-adherent elements protruding with respect to the front surface and likely to yield by application of a pressure. The substrate includes a meshing of channels opening at least at one edge of the sheet, and the non-adherent elements are bands forming roofs above the channels.