Abstract: A method includes receiving a signal representing monitored torque and a signal representing a setpoint torque for a joint of a robot; process the monitored torque and the setpoint torque to produce a control signal for controlling a servomotor of the articulated robot to generate the setpoint torque at the at least one joint; and output the control signal to drive circuitry of the servomotor, wherein the torque control circuitry comprises a first feedback path configured to implement a first controller function, wherein the first controller function is configured to amplify gain in the first feedback path to a larger extent in a first frequency range than in a second frequency range, and wherein the first frequency range comprises frequencies associated with the at least one physical effect which occurs at the at least one joint during use of the articulated robot.

Abstract: A method of controlling an industrial robot, the method including visualizing a nominal path of the industrial robot, the nominal path being associated with a nominal trajectory of the industrial robot; visualizing indications of values of at least one parameter of the industrial robot as when executing the nominal trajectory, for evaluating a risk potential of a physical contact between the industrial robot and a human; receiving a user input related to the nominal trajectory; modifying the nominal trajectory based on the user input to provide a modified trajectory; and executing the modified trajectory by the industrial robot. A control system and an industrial robot are also provided.

Abstract: A method of controlling an industrial robot, including a robot controller, a programming interface, which is separate from the robot controller, and a robot manipulator with a plurality of actuators. The method includes: receiving a first release signal via a first safe input means; receiving actuator-selection data, which indicates one or more of the actuators, via an arbitrary input means at the programming interface; receiving a second release signal via a second safe input means at the programming interface after having received the actuator-selection data; and, in response to determining that the first and second release signals are still received, causing the actuators indicated by the actuator-selection data to enter a movement-without-drive-power mode.

Abstract: A method of controlling an industrial robot, including a robot controller, a programming interface, which is separate from the robot controller, and a robot manipulator with a plurality of actuators. The method includes: receiving a first release signal via a first safe input means; receiving actuator-selection data, which indicates one or more of the actuators, via an arbitrary input means at the programming interface; receiving a second release signal via a second safe input means at the programming interface after having received the actuator-selection data; and, in response to determining that the first and second release signals are still received, causing the actuators indicated by the actuator-selection data to enter a movement-without-drive-power mode.

Abstract: A robot system comprises a manipulator and a controller therefore, wherein the controller supports impedance-based control of a lead-through operation mode, characterized in that the controller is switchable between impedance-based and admittance-based control of the lead-through mode.

Abstract: A system and a method, for assisting a user in programming a robot. Storage circuitry includes predefined possible values for a physical condition of at least two joints, the values being subdivided into two or more ranges. Processing circuitry is arranged to acquire a first path of the Tool Centre Point (TCP), receive, for each of a plurality of points of the first path and for the joints, a value associated with the physical condition at the respective points, determine which of the ranges the value is associated with, generate at least one additional path, associate each of the at least two joints to a respective path, and send instructions to a display, to illustrate the first path and the additional path, together with the information of which range the values are associated with at the plurality of points of the paths.

Abstract: 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.

Abstract: A method of controlling an industrial robot, the method including visualizing a nominal path of the industrial robot, the nominal path being associated with a nominal trajectory of the industrial robot; visualizing indications of values of at least one parameter of the industrial robot as when executing the nominal trajectory, for evaluating a risk potential of a physical contact between the industrial robot and a human; receiving a user input related to the nominal trajectory; modifying the nominal trajectory based on the user input to provide a modified trajectory; and executing the modified trajectory by the industrial robot. A control system and an industrial robot are also provided.

Abstract: A system and a method, for assisting a user in programming a robot. Storage circuitry includes predefined possible values for a physical condition of at least two joints, the values being subdivided into two or more ranges. Processing circuitry is arranged to acquire a first path of the Tool Centre Point (TCP), receive, for each of a plurality of points of the first path and for the joints, a value associated with the physical condition at the respective points, determine which of the ranges the value is associated with, generate at least one additional path, associate each of the at least two joints to a respective path, and send instructions to a display, to illustrate the first path and the additional path, together with the information of which range the values are associated with at the plurality of points of the paths.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: A method of determining a joint torque in a joint of an articulated industrial robot, the robot having a first arm and a second arm which are coupled to each other by the joint and which are movable relative to each other by an electric drive unit coupled to the first and second arm, includes: controlling the electric drive unit by an electronic control device; assigning a measuring device to the electric drive unit, the measuring device measuring an electric current supplied to the drive unit; determining an actual value of the torque which is applied to the second arm from the measured electric current; and comparing, using the electronic control device, the determined actual torque value with a predetermined desired torque value for the joint.

Abstract: A method of determining a joint torque in a joint of an articulated industrial robot, the robot having a first arm and a second arm which are coupled to each other by the joint and which are movable relative to each other by an electric drive unit coupled to the first and second arm, includes: controlling the electric drive unit by an electronic control device; assigning a measuring device to the electric drive unit, the measuring device measuring an electric current supplied to the drive unit; determining an actual value of the torque which is applied to the second arm from the measured electric current; and comparing, using the electronic control device, the determined actual torque value with a predetermined desired torque value for the joint.

Abstract: 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.

Abstract: 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.

Abstract: A robot and method for controlling an industrial robot, which has a first robot arm, a second robot arm, a joint defining a kinematic pair between the first and second robot arms, an actuator for generating relative movement between the first and second robot arms, and a robot controller for controlling the movements of the actuator. The method includes the steps of: determining a presence of a first torque indication at the actuator to be interpreted as a first command to the robot controller; repeatedly obtaining an external torque value (?ext) to obtain an external torque behavior; comparing the external torque behavior with the first torque indication; and executing a robot function corresponding to the first command upon detecting that the external torque behavior corresponds to the first torque indication. The obtained external torque behavior depends on a reference torque value (?ref) obtained from a dynamic model of the robot.

Abstract: 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.

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.