Abstract: The invention relates to a method for AR assisted adjustment of a safety plane for a robot via a portable AR device comprising a physical display and a camera. The method comprises the steps of establishing a spatial reference system defined with reference to said robot. Connecting said portable AR device to a robot controller. Recording the surroundings of said portable AR device including said robot. Displaying said recording of said surroundings on said physical display. Establishing a virtual environment according to said spatial reference system overlaying said recorded surroundings, wherein said virtual environment comprises at least on safety plane. Manually perform, via said physical display, a safety plane displacement of said safety plane in said spatial reference system in said virtual environment, and transfer said displaced location of said safety plane to said robot controller.

Abstract: A robot system comprises at least one robotic arm controlled by a robot controller comprising: a recording process which can be activated by a user via the user interface device and the robot controller is during the recording process configured to record at least one operation parameter of the robot system; an assisting process which during the recording process is configured to execute at least one assisting function upon activation by the user, where the at least one assisting function activates at least one robot system action. robot task generator configured to generate at least one robot task based on the at least one executed assisting function and at least one of the recorded operation parameters.

Abstract: The present invention relates to a method of transforming a robot arm trajectory having a motion profile, the method comprising the steps of: establish a robot arm trajectory including a first, second and a plurality of intermediate positions extending including spatial coordinates of the first and said second position. Establish spatial coordinates 5 of a further position not forming part of the established robot arm trajectory. Establish a spatial distance between the second and the further position. Establish a transformed robot arm trajectory including the first, further and the plurality of intermediate positions. Wherein at least part of the plurality of intermediate positions is propagated in space. Wherein the propagation: is a joint space propagation enabling the 10 transformed robot arm trajectory to reach the further position while maintaining the motion profile, and is based on the difference between the spatial coordinates of the second position and of the further position.

Abstract: The invention relates to as a cap removably connectable to a robot arm element, the robot arm element comprises a housing having an outer surface and an inner surface. The cap is removably connectable to the outer surface via an upper cavity connectable to an upper protrusion and via at least a first lower cavity connectable to a first lower protrusion. When the cap is connected to the robot arm element, the upper protrusion is fixed in an engaged position in the upper cavity and the first lower protrusion is fixed in an engaged position in the at least first lower cavity by a flexible suspension element.

Abstract: A robot joint for a robot arm comprising an angled joint housing forming a joint cavity having an opening at one end of the robot joint housing, the joint housing comprises a connection flange configured to be interconnected with a further robot element, where a robot drive unit is configured to rotate an output flange of the robot join and is slidable arranged in the joint cavity through the opening. The robot drive unit is assembled outside the robot joint housing by providing the following component in a stacked configuration: a drive unit circuit board, a drive unit motor unit, a drive unit gear, a brake arranged between the drive unit circuit board and the drive unit motor unit, an input encoder assembly arranged between the drive unit motor unit and the drive unit gear.

Abstract: A robot system comprising a robot arm controlled by a process controller according to a combination of basic software and process software and a safety controller configured to monitor and evaluate operation of a robot arm. The basic software is associated with safety limits having normal values limiting operation of the robot arm. The process software is associated with at least one safety limit having a process value which is different from the normal value. The value of a safety limit is configured to be updated with the process value while the robot system is in run-time mode and the robot safety controller is configured to bring the robot arm into a violation stop mode based on the result of an evaluation of an operation parameter, the normal value and the process value of the at least one safety limit.

Abstract: The invention relates to a robot arm comprising a plurality of robot joints mechanically connecting a robot base to a robot tool flange wherein a robot controller is configured for controlling movement of said plurality of robot joints and thereby movement of said robot tool flange. The robot controller is connected to an interface device comprising an input device via which a user is able to communicate with said robot controller and thereby change mode of operation of the robot arm. The input device is a mechanical multifunctional input device and in response to a first predetermined sequence of activation applied to the input device, the robot controller is arranged to change mode of operation to a stop mode, and in response to a second predetermined sequence of activation applied to the input device, the robot controller is arranged to change mode of operation to a second mode of operation.

Abstract: The invention relates to a robot system for detection of an operation anomaly. The robot system comprises: an industrial robot; a robot controller configured to control operation of said industrial robot; a robot operation program which is executable by said robot controller to operate said industrial robot according to a robot operation cycle; respective program nodes integrated in said robot operation program, wherein each of said respective program nodes is associated with a separate operational element of said robot operation cycle; wherein said robot controller is configured to obtain reference data based on operation parameters associated with execution of said robot operation program; and an anomaly detection block which for at least one of said respective program nodes is configured to evaluate an operation anomaly of said robot operation parameters relative to a representation of said reference data.

Abstract: The invention relates to a robot user interface configured for presenting a control program to a programmer, the control program being displayable to the programmer via a program view of said user interface. The control program controls operations of a robot, wherein at least some parts of the control of said robot is defined via an 5 argument of one or more operation parameter. The user interface is further configured to present a part of said one or more operation parameters to an operator of said robot via an operator view of said user interface. The operator view is configured for displaying arguments of said one or more operation parameters, and the operator view is configured for allowing said operator to change said argument of said part of said 10 one or more operation parameters. Further the invention relates to a method of configuring the robot control program using the user interface.

Abstract: The invention relates to a method for monitoring a robot system comprising a robot arm and a peripheral device, the method comprising the steps of: providing a communicative peripheral connection between the peripheral device and a robot controller; establishing an operation signal history in a digital storage wherein the operation signal history is based on operation representations; executing a robot operation process on the robot controller; establishing a peripheral signal associated with the peripheral connection; recording the peripheral signal to obtain a peripheral signal representation; updating the operation signal history by providing the peripheral signal representation as an operation representation of the operation representations; and tracking operation of the robot system based on the operation signal history. The invention further relates to a robot system.

Abstract: A robot element for a robot arm where the robot element is connectable to at least another robot element via a connecting flange having a central axis, wherein the robot element comprises: # an annular light source array comprising a plurality of light sources arranged around the central axis and where the plurality of light sources is configured to emit light in a direction along the central axis; # at least one optical component arranged above the light source array and configured to direct at least a part of the light in a direction away from the central axis.

Abstract: A strain wave gear includes an outer ring and an inner ring rotatably arranged in the outer ring. The inner ring includes an internally toothed gear and a flex spline is arranged in the inner ring and includes a flexible part that includes an external toothed gear. A wave generator is rotatable in relation to the flex spline and is configured to flex the flexible part in a radial direction to partly mesh the external toothed gear with the internally toothed gear causing rotation of the inner ring in relation to the outer ring. A part of the inner ring extends out of the outer ring and includes an outwardly protruding output flange. An encoder reader can be disposed on the outer ring and an encoder track can disposed on the inner ring. A robot joint that includes the strain wave gear is also disclosed.

Abstract: The invention relates to a robot controller controlling a robot arm, the robot controller is configured to maintain the robot arm in a static posture when only gravity is acting on the robot arm and allow change in posture of the robot arm when an external force different from gravity is applied to the robot arm. The free-drive mode of operation is activatable by a user establishing a free-drive activation signal to the robot controller, which then is configured to:—monitor a value of at least one joint sensor parameter;—compare the value of the mode of joint sensor parameter to a maintain free-drive joint sensor parameter threshold value;—maintain the robot arm in said free-drive mode of operation for a predetermined maintain free-drive period of time; and—leave the free-drive mode of operation if the value of the joint sensor parameter does not exceed the maintain free-drive joint sensor parameter threshold value within the maintain free-drive period of time.

Abstract: A method of detecting change in contact between a contact part of a robot arm and an object as defined by the independent claims, by obtaining a contact force provided at the contact part of the robot arm by sensing a force provided to a part of said robot arm; and by obtaining the part acceleration 5 of the contact part of the robot arm by sensing the acceleration of at least a part of the robot arm and then indicate if a change in contact between the contact part of the robot arm and the object has occurred based on the obtained contact force and the obtained contact part.

Abstract: The invention relates to a robot controller controlling a robot arm, the robot controller is configured to maintain the robot arm in a static posture when only gravity is acting on the robot arm and allow change in posture of the robot arm when an external force different from gravity is applied to the robot arm. The free-drive mode of operation is activatable by a user establishing a free-drive activation signal to the robot controller, which then is configured to initiate a free-drive mode activation sequence including the steps of: in a predetermined activation sequence period of time monitor a value of at least one joint sensor parameter, and compare this value to a free-drive activation joint sensor parameter threshold value. The robot controller is configured to switch to the free-drive mode of operation if the at least one value does not exceed the free-drive activation joint sensor parameter threshold value within the predetermined activation sequence period of time.

Abstract: A method and robot controller configured to obtain an inertia-vibration model of the robot arm. The inertia-vibration model defines a relationship between the inertia of the robot arm and the vibrational properties of said robot arm and have been by setting the robot arm in a plurality of different physical configurations and for each of said physical configurations of said robot arm obtaining the vibrational properties and the inertia the robot arm. The inertia-vibration model makes it possible to in a simple and efficient way to obtain the vibrational properties of different physical configurations of the robot arm whereby the robot arm can be controlled according to the vibrational properties of the robot arm. This makes it possible to reduce the vibrations of the robot arm during movement of the robot arm.