Abstract: A method of controlling backlash of a first driven gear and a second driven gear mechanically connected in parallel with an actuator gear, and which first, second, and third gears form a gear train. The method includes a) obtaining a current position of the gear train, b) obtaining a current backlash value of the gear train from a data structure having a plurality of pairs of positions of the gear train and corresponding backlash value which have all been determined in an empirical manner for the actuator gear, c) determining a first backlash compensation for the first gear motor and a second backlash compensation for the second gear motor, wherein the first and second backlash compensations are equal and opposite values based on the current backlash value, and d) controlling the first and second gear motors based on the compensations.

Abstract: For controlling a robot in a safe way, a highest voltage required for a desired robot movement is calculated. A voltage level in a DC-bus is set on the basis of the highest voltage, and current is supplied to a motor at a robot axis from the DC-bus. By limiting the voltage level in the DC-bus to correspond to an actual need for a desired robot movement at each instant unnecessary fast robot movements are prevented even in the event that an inverter controlling motor currents would by mistake attempt to drive the motor faster than desired by the operator.

Abstract: The present invention relates to a resolver positioning system for a robot, which system is connectable to a battery supply (402) and is drivable in a pulsed mode. The system comprising: a resolver (32) arranged to detect an axis position of a robot; a first comparator (80, 81) connected to the resolver for reading of a first resolver value from the resolver, wherein the first comparator comprises means (82-87) to provide two different reference levels for the first resolver value; a second comparator (80, 81) connected to the resolver for reading of a second resolver value from the resolver, wherein the second comparator comprises means (82-87) to provide two different reference levels for the second resolver value; and a controller (20) connected to the first and second comparators, wherein the controller is configured to provide a quadrant evaluation of the axis position from the first and second resolver values.

Abstract: A method, robot arrangement and computer program product for tuning a dynamical model of an industrial robot on a foundation. The parameter determining device includes a model memory with a first dynamical model of the robot, the first dynamical model including first model parameters representing dynamical properties of the robot; and a second dynamical model of a foundation to which the robot is to be attached, the second dynamical model including second model parameters representing dynamical properties of the foundation, and a parameter adjusting unit that obtains information about dynamical properties of the foundation by ordering the actuator to move the robot and by receiving, from the detector, measurements of at least one property affected by the movement; and set at least one of the second model parameters on the basis of the dynamical properties of the foundation.

Abstract: For controlling a robot in a safe way, a highest voltage required for a desired robot movement is calculated. A voltage level in a DC-bus is set on the basis of the highest voltage, and current is supplied to a motor at a robot axis from the DC-bus. By limiting the voltage level in the DC-bus to correspond to an actual need for a desired robot movement at each instant unnecessary fast robot movements are prevented even in the event that an inverter controlling motor currents would by mistake attempt to drive the motor faster than desired by the operator.

Abstract: The present invention relates to a resolver positioning system for a robot, which system is connectable to a battery supply (402) and is drivable in a pulsed mode. The system comprising: a resolver (32) arranged to detect an axis position of a robot; a first comparator (80, 81) connected to the resolver for reading of a first resolver value from the resolver, wherein the first comparator comprises means (82-87) to provide two different reference levels for the first resolver value; a second comparator (80, 81) connected to the resolver for reading of a second resolver value from the resolver, wherein the second comparator comprises means (82-87) to provide two different reference levels for the second resolver value; and a controller (20) connected to the first and second comparators, wherein the controller is configured to provide a quadrant evaluation of the axis position from the first and second resolver values.

Abstract: A method, robot arrangement and computer program product for tuning a dynamical model of an industrial robot on a foundation. The parameter determining device includes a model memory with a first dynamical model of the robot, the first dynamical model including first model parameters representing dynamical properties of the robot; and a second dynamical model of a foundation to which the robot is to be attached, the second dynamical model including second model parameters representing dynamical properties of the foundation, and a parameter adjusting unit that obtains information about dynamical properties of the foundation by ordering the actuator to move the robot and by receiving, from the detector, measurements of at least one property affected by the movement; and set at least one of the second model parameters on the basis of the dynamical properties of the foundation.

Abstract: Method of detecting a braking state of a braking device of a robot drive, having a frame device which, if required, applies braking forces to a rotating component of the robot drive by means of a first movable frame element. As a result, the braking device is shifted into at least two operating states, in particular a closed state or an open state. In the process, during the transition of the braking device from one state into the other, at least one measuring signal is recorded and a braking state is determined by comparing the at least one measuring signal with reference values established beforehand. The invention also relates to a braking device on which the above method can be carried out.

Abstract: Servo controller for controlling a plurality of motors including a master motor and a slave motor cooperatively driving a movable member. The servo controller is configured to control the master motor and the slave motor based on position references for the master motor. The servo controller includes a master speed controller configured to calculate a reference torque for the master motor based on speed errors for the master motor. The slave speed controller is configured to calculate reference torques for the slave motor based on speed errors for the slave motor. Each of the reference torques includes a proportional torque part and an integral torque part. The servo controller is configured to calculate each of the integral torque parts based on the speed errors of the master motor and the speed errors of the slave motor, such that the torques due to the integral torque parts will be distributed equally between the master and slave motors or according to a predefined ratio.

Abstract: An industrial robot including a tool flange at an end of an outer arm of the robot. A tool is secured to the tool flange. A sensor is configured to sense forces and/or torques applied to a tool secured to the tool flange. The sensor is built into the structure of the robot in the region of the tool flange.

Abstract: Method of detecting a braking state of a braking device of a robot drive, having a frame device which, if required, applies braking forces to a rotating component of the robot drive by means of a first movable frame element. As a result, the braking device is shifted into at least two operating states, in particular a closed state or an open state. In the process, during the transition of the braking device from one state into the other, at least one measuring signal is recorded and a braking state is determined by comparing the at least one measuring signal with reference values established beforehand.

Abstract: An industrial robot including a tool flange at an end of an outer arm of the robot. A tool is secured to the tool flange. A sensor is configured to sense forces and/or torques applied to a tool secured to the tool flange. The sensor is built into the structure of the robot in the region of the tool flange.

Abstract: A method for supervision of the movement control of a manipulator. The manipulator comprises at least one movement axis, a servo (9) for controlling the axis in accordance with supplied reference values for position, speed and acceleration (&psgr;ref, {dot over (&psgr;)}ref, {umlaut over (&psgr;)}ref). A plurality of dynamic parameters (dyn-par) are calculated in dependence on reference values for the position and speed of the axis and a dynamic model (7) which describes the static and dynamic properties of the robot. A torque signal (&tgr;mr) is generated by the servo in dependence on the control error torque (&tgr;err) of the servo.

Abstract: This invention relates to an electricity meter mainly intended for measuring, registration and reading of one or more consumers' electricity power consumption and/or energy consumption. To the electricity meter a display (12) is connected which is adapted to indicate momentary power consumption, present electricity tariff and accumulated energy consumption expressed in monentary units. The electricity meter is an electronic construction and includes a central processing unit (1) with a microprocessor, one sensor(2) intended for detecting of a consumer's power consumption and a number of memory cells (1a-52d) adapted in a predetermined manner to consecutively receive and store information, calculated and transferred by the central processing unit (1). The electricity meter is also adapted to be connected to a read unit (5) by which stored information and electricity tariffs can be transferred to a central computer, located at, for example, an electrical power producer.

Abstract: Apparatus which washes and cleans hospital and nursing home utensils of various configurations, such as bed pans, urinals, and buckets. The washing apparatus is provided with a chamber that has washing nozzles and a mounting fixture for the utensils that rotates during the various stages of the washing operation. The utensils of different types are readily and thoroughly cleaned in a sealed, closable chamber, and the switching of the various washing stages may be accomplished by the knee of the operator, leaving the hands free to manipulate the utensils as desired.