Patents by Inventor Arne Wahrburg
Arne Wahrburg has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240083027Abstract: A method of responsive robot path planning implemented in a robot controller, including: providing a plurality of potential motion paths of a robot manipulator, wherein the potential motion paths are functionally equivalent with regard to at least one initial or final condition, a transportation task and/or a workpiece processing task; causing an operator interface to visualize the potential motion paths, wherein the operator interface is associated with an operator sharing a workspace with the robot manipulator; obtaining operator behavior during the visualization; and selecting at least one preferred motion path based on the operator behavior. A method in an operator interface, including obtaining from a robot controller a plurality of potential motion paths of the robot manipulator; visualizing the potential motion paths; sensing operator behavior during the visualization; and making the operator behavior available to the robot controller.Type: ApplicationFiled: February 1, 2021Publication date: March 14, 2024Inventors: Giacomo Spampinato, Mikael Norrlöf, Mattias Björkman, Arne Wahrburg, Nima Enayati, Debora Clever
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Publication number: 20240066702Abstract: A method of handling safety of an industrial robot in a workspace, the method including providing a geometric region by a monitoring system, where the geometric region is defined in relation to the industrial robot and/or in relation to the workspace, and where the geometric region is associated with at least one condition for being fulfilled by the industrial robot; communicating the geometric region from the monitoring system to a robot control system of the industrial robot; determining a movement of the industrial robot by the robot control system based on the geometric region and the at least one condition; executing the movement by the industrial robot; and monitoring, by the monitoring system, the execution of the movement with respect to the geometric region and the at least one condition.Type: ApplicationFiled: January 21, 2021Publication date: February 29, 2024Inventors: Mikael Norrlöf, Arne Wahrburg, Debora Clever, Nima Enayati, Jonas Haulin, Mattias Björkman, Giacomo Spampinato
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Publication number: 20240017410Abstract: A method for trajectory planning in a robotic system comprising at least two robotic units includes a state vector of each robotic unit, which comprises position components and velocity components and is variable with time and independently from input into every other robotic unit. A trajectory defines the motion of said robotic units from an initial state to a final state and is determined by finding the trajectory that minimizes a predetermined cost function. The cost function is set to be a function of the state vectors of all robotic units, and is minimized under a constraint which defines a vector difference between at least the position components of the state vectors of said robotic units at an instant of said trajectory.Type: ApplicationFiled: September 25, 2023Publication date: January 18, 2024Applicant: ABB Schweiz AGInventors: Nima Enayati, Arne Wahrburg, Debora Clever, Mikael Norrlöf, Giacomo Spampinato, Mattias Björkman
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Publication number: 20240017411Abstract: A method for controlling displacement of a robot from an initial pose to a target pose includes providing a movement command, which specifies at least the target pose and an nominal path to be followed from the initial pose to the target pose; associating with the command an allowed deviation from the nominal path; identifying a real path that deviates from the nominal path by no more than the allowed deviation; and controlling the robot to move along said real path.Type: ApplicationFiled: September 27, 2023Publication date: January 18, 2024Applicant: ABB Schweiz AGInventors: Arne Wahrburg, Nima Enayati, Debora Clever, Mikael Norrlöf, Mattias Björkman, Giacomo Spampinato, Jonas Haulin
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Patent number: 11717962Abstract: A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (?{dot over (x)}refk?J{dot over (q)}refk?Wx) between the target speed vector ({dot over (x)}ref) and an actual speed vector ({dot over (x)}act) calculated from actual rotation speeds of the joints; and ii) a rate of change ( 1 T S ? ? q . ref k - q . ref k - 1 ? W a ) of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}ref) determined in step (b) as target rotation speeds of the joints.Type: GrantFiled: February 9, 2021Date of Patent: August 8, 2023Assignee: ABB Schweiz AGInventors: Tomas Groth, Arne Wahrburg
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Publication number: 20230100950Abstract: A computer-implemented method for operating a crane includes generating speed data for a drive unit of the crane such that oscillations of the crane are suppressed; providing a compatibility model configured to describe a relation between input speed reference data of a drive unit of a crane and output position reference data of the drive unit of the crane; determining position reference data of the drive unit of the crane by inputting the speed reference data into the compatibility model; and providing the position reference data of the drive unit of the crane to a control of the drive unit of the crane and controlling the drive unit of the crane according to the position reference data.Type: ApplicationFiled: September 28, 2022Publication date: March 30, 2023Applicant: ABB Schweiz AGInventors: Arne Wahrburg, Janne Jurvanen, Matias Niemela, Mikael Harry Holmberg
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Patent number: 11279027Abstract: A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.Type: GrantFiled: February 8, 2021Date of Patent: March 22, 2022Assignee: ABB Schweiz AGInventors: Debora Clever, Fan Dai, Hao Ding, Tomas Groth, Bjoern Matthias, Arne Wahrburg
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Publication number: 20210162598Abstract: A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (?{dot over (x)}refk?J{dot over (q)}refk?Wx) between the target speed vector ({dot over (x)}ref) and an actual speed vector ({dot over (x)}act) calculated from actual rotation speeds of the joints; and ii) a rate of change ( 1 T S ? ? q . ref k - q . ref k - 1 ? W a ) of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}ref) determined in step (b) as target rotation speeds of the joints.Type: ApplicationFiled: February 9, 2021Publication date: June 3, 2021Inventors: Tomas Groth, Arne Wahrburg
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Publication number: 20210162596Abstract: A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.Type: ApplicationFiled: February 8, 2021Publication date: June 3, 2021Inventors: Debora Clever, Fan Dai, Hao Ding, Tomas Groth, Bjoern Matthias, Arne Wahrburg
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Patent number: 10969756Abstract: A method to identify physical parameters of a mechanical load with integrated reliability indication includes: applying a first control signal to a mechanical device in a control circuit; measuring a first return signal; and using a power density spectrum of the first return signal to stipulate an excitation signal for the mechanical device.Type: GrantFiled: December 10, 2018Date of Patent: April 6, 2021Assignee: ABB SCHWEIZ AGInventors: Arne Wahrburg, Silke Klose, Edo Jelavic
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Patent number: 10969755Abstract: A method to identify physical parameters of a mechanical load includes the following steps: applying a first control signal to a mechanical device in a control circuit; measuring a first return signal; and using a power density spectrum of the first return signal to stipulate an excitation signal for the mechanical device.Type: GrantFiled: December 10, 2018Date of Patent: April 6, 2021Assignee: ABB SCHWEIZ AGInventors: Arne Wahrburg, Edo Jelavic
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Publication number: 20200376666Abstract: A robot system includes: a robot arm having a plurality of links and joints by which one of the links is connected to another; sensors for determining, for any one of the joints, an angular velocity of the joint and a torque to which the joint is subject; a neural network connected to the sensors, the neural network receiving therefrom angular velocity and torque data, the neural network being trained to distinguish, based on the angular velocity and torque data, between a normal operation condition of the robot arm, a condition in which the robot arm collides with an outside object, and a condition where a person deliberately interacts with the robot arm; and a controller for controlling motion of the robot arm, a mode of operation of which is variable depending on an operation condition signal output by the neural network. One operation mode is a leadthrough mode.Type: ApplicationFiled: August 21, 2020Publication date: December 3, 2020Inventors: Nolwenn Briquet-Kerestedjian, Hao Ding, Rene Kirsten, Bjoern Matthias, Pedro Rodriguez, Arne Wahrburg
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Patent number: 10852702Abstract: A control circuit includes: a controller; a controlled system; and a filter for smoothing a return signal. The controller acts on the controlled system vis-à-vis a control signal and the return signal acts on the controller. The controller and the filter are simultaneously adjustable by an adjustment. In an embodiment, the adjustment is made on the basis of a method that includes: measuring or estimating an output signal as a measurement or estimate; transferring, using the measurement or estimate, the output signal into the return signal; determining a power density spectrum of the return signal; and limiting a control signal of the controller such that a power of the control signal does not exceed a predefined limiting value.Type: GrantFiled: December 10, 2018Date of Patent: December 1, 2020Assignee: ABB SCHWEIZ AGInventor: Arne Wahrburg
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Publication number: 20190163148Abstract: A method to identify physical parameters of a mechanical load includes the following steps: applying a first control signal to a mechanical device in a control circuit; measuring a first return signal; and using a power density spectrum of the first return signal to stipulate an excitation signal for the mechanical device.Type: ApplicationFiled: December 10, 2018Publication date: May 30, 2019Inventors: Arne WAHRBURG, Edo JELAVIC
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Publication number: 20190113891Abstract: A control circuit includes: a controller; a controlled system; and a filter for smoothing a return signal. The controller acts on the controlled system vis-à-vis a control signal and the return signal acts on the controller. The controller and the filter are simultaneously adjustable by an adjustment. In an embodiment, the adjustment is made on the basis of a method that includes: measuring or estimating an output signal as a measurement or estimate; transferring, using the measurement or estimate, the output signal into the return signal; determining a power density spectrum of the return signal; and limiting a control signal of the controller such that a power of the control signal does not exceed a predefined limiting value.Type: ApplicationFiled: December 10, 2018Publication date: April 18, 2019Inventor: Arne Wahrburg
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Publication number: 20190113895Abstract: A method to identify physical parameters of a mechanical load with integrated reliability indication includes: applying a first control signal to a mechanical device in a control circuit; measuring a first return signal; and using a power density spectrum of the first return signal to stipulate an excitation signal for the mechanical device.Type: ApplicationFiled: December 10, 2018Publication date: April 18, 2019Inventors: Arne Wahrburg, Silke Klose, Edo Jelavic