Patents by Inventor Ivan Lundberg
Ivan Lundberg 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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Patent number: 11478929Abstract: A method for determining possible transitions of system states in an industrial system with a plurality of agents with discrete agent states. The method comprises the steps of defining a plurality of rules, each rule comprising a pre-condition of at least one agent state that is to be changed, a post-condition of the at least one agent state, and an action or actions resulting in a corresponding transition of the at least one agent state; defining a plurality of nodes, each node comprising a system state; and evaluating for a plurality of pairs of nodes, whereby one node of each pair acts as a pre- condition node and the other node of each pair acts as a post-condition node, whether the pair can, given the rules, be directly connected by an edge, each edge comprising an action or actions required for a transition between the respective pre- and post-condition system states.Type: GrantFiled: November 9, 2016Date of Patent: October 25, 2022Assignee: ABB Schweiz AGInventors: Johan Wessén, Ivan Lundberg, Sead Travancic
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Patent number: 11144043Abstract: An industrial robot including a movable robot arm for supporting a tool, and a control unit configured to control the movement of the robot. The control unit is provided with an alignment function for aligning the tool with at least one specified axis. The control unit is configured to supervise the movement of the robot, and to automatically adjust the orientation of the tool so that the tool is aligned with the specified axis upon detecting that the movement of the robot has been stopped and the alignment function is activated. Also disclosed is a method for controlling the industrial robot, and to the use of the method for teaching a robot a path including a plurality of target points by lead-through programming.Type: GrantFiled: February 2, 2016Date of Patent: October 12, 2021Assignee: ABB Schweiz AGInventors: Annika Hedlund, Ivan Lundberg, Jonathan Styrud, Martin Nordvall, Ralph Sjöberg, Tomas Groth
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Patent number: 10518413Abstract: An industrial robot including a manipulator and a robot control unit are disclosed, wherein the manipulator includes a plurality of joints that are moved under the control of the control unit, and the control unit includes a storage medium including program code for controlling the motions of the robot when executed by the control unit. The control unit is configured to automatically select which part of the program code to be executed next based on the position of the robot. A method for controlling the robot is also disclosed.Type: GrantFiled: December 11, 2015Date of Patent: December 31, 2019Assignee: ABB Schweiz AGInventors: Annika Hedlund, Ivan Lundberg, Jonathan Styrud, Martin Nordvall, Ralph Sjöberg, Tomas Groth
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Publication number: 20190270202Abstract: A method for determining possible transitions of system states in an industrial system with a plurality of agents with discrete agent states. The method includes the step of defining a plurality of rules, each rule having a pre-condition of at least one agent state that is to be changed, a post-condition of the at least one agent state, and an action or actions resulting in a corresponding transition of the at least one agent state. The method further includes the step of defining a plurality of nodes, each node having a system state. The method further includes the step of and evaluating for a plurality of pairs of nodes, whereby one node of each pair acts as a pre-condition node and the other node of each pair acts as a post-condition node, whether the pair can, given the rules, be directly connected by means of an edge. Each edge includes an action or actions required for a transition between the respective pre- and post-condition system states.Type: ApplicationFiled: November 9, 2016Publication date: September 5, 2019Inventors: Johan Wessén, Ivan Lundberg, Sead Travancic
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Publication number: 20180373232Abstract: An industrial robot including a movable robot arm for supporting a tool, and a control unit configured to control the movement of the robot. The control unit is provided with an alignment function for aligning the tool with at least one specified axis. The control unit is configured to supervise the movement of the robot, and to automatically adjust the orientation of the tool so that the tool is aligned with the specified axis upon detecting that the movement of the robot has been stopped and the alignment function is activated. Also disclosed is a method for controlling the industrial robot, and to the use of the method for teaching a robot a path including a plurality of target points by lead-through programming.Type: ApplicationFiled: February 2, 2016Publication date: December 27, 2018Inventors: Annika Hedlund, Ivan Lundberg, Jonathan Styrud, Martin Nordvall, Ralph Sjöberg, Tomas Groth
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Publication number: 20180345494Abstract: An industrial robot including a manipulator and a robot control unit are disclosed, wherein the manipulator includes a plurality of joints that are moved under the control of the control unit, and the control unit includes a storage medium including program code for controlling the motions of the robot when executed by the control unit. The control unit is configured to automatically select which part of the program code to be executed next based on the position of the robot. A method for controlling the robot is also disclosed.Type: ApplicationFiled: December 11, 2015Publication date: December 6, 2018Inventors: Annika Hedlund, Ivan Lundberg, Jonathan Styrud, Martin Nordvall, Ralph Sjöberg, Tomas Groth
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Patent number: 9889565Abstract: A system for calibrating a robot having a movable part with a calibration marker including: positioning the calibration marker along an optical line of a camera unit; imaging the calibration marker along the optical line to establish line positions P1 . . . PN within a tolerance k, while monitoring joint values j1 . . . jM of the robot; establishing an error function based on resulting calculated robot positions P?1 . . . P?N, for the calibration marker for joint values j1 . . . jM at each line position P1 . . . PN for the calibration marker; identifying a set of robot kinematic parameters by solving an optimization problem based on the error function; and updating a kinematic model of the robot via the identified set of robot kinematic parameters.Type: GrantFiled: June 23, 2014Date of Patent: February 13, 2018Assignee: ABB Schweiz AGInventor: Ivan Lundberg
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Publication number: 20170157770Abstract: A system for calibrating a robot having a movable part with a calibration marker including: positioning the calibration marker along an optical line of a camera unit; imaging the calibration marker along the optical line to establish line positions P1 . . . PN within a tolerance k, while monitoring joint values j1 . . . jM of the robot; establishing an error function based on resulting calculated robot positions P?1 . . . P?N, for the calibration marker for joint values j1 . . . jM at each line position P1 . . . PN for the calibration marker; identifying a set of robot kinematic parameters by solving an optimization problem based on the error function; and updating a kinematic model of the robot via the identified set of robot kinematic parameters.Type: ApplicationFiled: June 23, 2014Publication date: June 8, 2017Applicant: ABB Schweiz AGInventor: Ivan LUNDBERG
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Patent number: 9598224Abstract: A component feeder includes a distributor for distributing components from a bulk storage on a pick surface, and a retaining wall preventing the components from escaping the pick surface. The retaining wall is flexible such that it deforms when a force is applied on it, and it assumes its original shape when the force is no longer applied. The flexible retaining wall allows a robot gripper to push the retaining wall aside when picking a component close to the retaining wall.Type: GrantFiled: August 22, 2012Date of Patent: March 21, 2017Assignee: ABB Research Ltd.Inventors: Daniel Sirkett, Per Nylen, Ivan Lundberg
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Patent number: 9457470Abstract: A method and a system for calibrating a first coordinate system Rf of a robot unit with a second coordinate system Cf of an object identification unit, wherein the robot unit includes a robot arm with an end effector and the object identification unit includes a camera unit. The calibration is performed using a calibration marker on the end effector. The method determines the intrinsic and the extrinsic parameters of the camera unit in two steps, a first step where the intrinsic parameters and a rotational part of the extrinsic parameters are determined, and a second step where a translational part of the extrinsic parameters are determined.Type: GrantFiled: April 5, 2013Date of Patent: October 4, 2016Assignee: ABB Technology LtdInventor: Ivan Lundberg
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Patent number: 9365359Abstract: A component feeder including a lift for elevating a selection of components from a bulk storage, and a pick surface adjacent to the lift for receiving the selection of components. A spreader gives the selection of components a push for spreading the selection of components from the lift on the pick surface. The combination of a vertical lift and a separate pick surface adjacent to the lift enables the bulk storage being positioned right below the pick surface. The area of the pick surface is large in relation to the total footprint of the component feeder.Type: GrantFiled: July 28, 2014Date of Patent: June 14, 2016Assignee: ABB Research Ltd.Inventors: Daniel Sirkett, Arne Trangard, Ivan Lundberg, Ryan Mackenzie, Andre Jaber
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Publication number: 20160039094Abstract: A method and a system for calibrating a first coordinate system Rf of a robot unit with a second coordinate system Cf of an object identification unit, wherein the robot unit includes a robot arm with an end effector and the object identification unit includes a camera unit. The calibration is performed using a calibration marker on the end effector. The method determines the intrinsic and the extrinsic parameters of the camera unit in two steps, a first step where the intrinsic parameters and a rotational part of the extrinsic parameters are determined, and a second step where a translational part of the extrinsic parameters are determined.Type: ApplicationFiled: April 5, 2013Publication date: February 11, 2016Inventor: Ivan Lundberg
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Patent number: 9199382Abstract: An industrial robot with a manipulator arm including at least one manipulator element and an electric motor driving the at least one manipulator element. An energy reservoir supplies the electric motor with electricity when a power failure or power loss occurs to move the manipulator element from a working position to a safe parking position. Also a method of parking a manipulator arm of an industrial robot.Type: GrantFiled: December 17, 2008Date of Patent: December 1, 2015Assignee: ABB RESEARCH LTD.Inventors: Ivan Lundberg, Roger Mellander, Hector Zelaya De La Parra, Mats Källman
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Publication number: 20150232255Abstract: A component feeder includes a distributer for distributing components from a bulk storage on a pick surface, and a retaining wall preventing the components from escaping the pick surface. The retaining wall is flexible such that it deforms when a force is applied on it, and it assumes its original shape when the force is no longer applied. The flexible retaining wall allows a robot gripper to push the retaining wall aside when picking a component close to the retaining wall.Type: ApplicationFiled: August 22, 2012Publication date: August 20, 2015Inventors: Daniel Sirkett, Per Nylen, Ivan Lundberg
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Patent number: 8967365Abstract: A component feeder including a bulk storage container for storage of components, and a lift for elevating a selection of components from the container, the lift being located inside the container. The feeder further includes a transfer arrangement for transferring elevated components from the lift onto a component pick surface on which the components are distributed in order to be picked by a tool or by a hand, and a plate configured to include the component pick surface. Further described is a component feeder system including at least one component feeder, a camera for monitoring the component pick surface and a processor used to control an industrial robot to pick pickable components lying on the pick surface. A corresponding method is also described.Type: GrantFiled: July 9, 2014Date of Patent: March 3, 2015Assignee: ABB Technology Ltd.Inventors: Daniel Sirkett, Ivan Lundberg, Siim Viilup
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Publication number: 20140332550Abstract: A component feeder including a lift for elevating a selection of components from a bulk storage, and a pick surface adjacent to the lift for receiving the selection of components. A spreader gives the selection of components a push for spreading the selection of components from the lift on the pick surface. The combination of a vertical lift and a separate pick surface adjacent to the lift enables the bulk storage being positioned right below the pick surface. The area of the pick surface is large in relation to the total footprint of the component feeder.Type: ApplicationFiled: July 28, 2014Publication date: November 13, 2014Inventors: Daniel Sirkett, Arne Trangard, Ivan Lundberg, Ryan Mackenzie, Andre Jaber
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Publication number: 20140312058Abstract: A component feeder including a bulk storage container for storage of components, and a lift for elevating a selection of components from the container, the lift being located inside the container. The feeder further includes a transfer arrangement for transferring elevated components from the lift onto a component pick surface on which the components are distributed in order to be picked by a tool or by a hand, and a plate configured to include the component pick surface. Further described is a component feeder system including at least one component feeder, a camera for monitoring the component pick surface and a processor used to control an industrial robot to pick pickable components lying on the pick surface. A corresponding method is also described.Type: ApplicationFiled: July 9, 2014Publication date: October 23, 2014Inventors: Daniel Sirkett, Ivan Lundberg, Siim Viilup
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Patent number: 8677854Abstract: An apparatus for a robot arm of an industrial robot. A first module includes a first and a second member rotatable in relation to each other about a first axis of rotation. A second module includes a first and a second member rotatable in relation to each other about a second axis of rotation. The first member of the second module is attached to the second member of the first module. A third module includes a first and a second member rotatable in relation to each other about a third axis of rotation. The first member of the third module is attached to the second member of the second module. The second axis of rotation is substantially perpendicular to the first and the third axis of rotation. The second axis of rotation is offset from the first and the third axis of rotation when the first axis of rotation is substantially parallel to the third axis of rotation.Type: GrantFiled: April 15, 2009Date of Patent: March 25, 2014Assignee: ABB Researched Ltd.Inventor: Ivan Lundberg
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Patent number: 8627558Abstract: A production line for manipulating objects is provided. The production line has working stations for performing consecutive working steps on the objects by a stationary operator. At least one working station is arranged to be operated by a stationary operator that is a human and at least one working station is operated by a stationary operator that is a robot. The at least one working station being arranged for a stationary operator that is a human and the at least one working station being operated by a stationary operator that is a robot are arranged such that transfer of objects from one working station to the other working station is performed by one or both of the stationary operators. The robot has at least two arms. A method for operating a production line applying a corresponding concept is also provided.Type: GrantFiled: June 4, 2010Date of Patent: January 14, 2014Assignee: ABB Research Ltd.Inventors: Ivan Lundberg, Mats Källman, Sönke Kock
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Patent number: 8584547Abstract: A robot part, such as a robot arm or a robot joint, surrounded by an impact absorbing structure is provided. According to the invention, the impact absorbing structure has a shroud surrounding the robot part. The shroud is mounted on two spacing elements such that an interspace is formed between the shroud and the robot part. At least one of the spacing elements mounts the shroud elastically. Also provided is a method of protecting a robot part by providing the robot part with an impact absorbing structure according to the invention.Type: GrantFiled: July 1, 2010Date of Patent: November 19, 2013Assignee: ABB Research Ltd.Inventors: Daniel Sirkett, Ivan Lundberg, Timothy Vittor